On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
Looking at People: Sensing for Ubiquitous and Wearable Computing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Personal and Ubiquitous Computing
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Mobile Robot Localisation Using Active Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Incorporation of Delayed Decision Making into Stochastic Mapping
ISER '00 Experimental Robotics VII
ISWC '01 Proceedings of the 5th IEEE International Symposium on Wearable Computers
Using GPS to learn significant locations and predict movement across multiple users
Personal and Ubiquitous Computing
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Extracting Places and Activities from GPS Traces Using Hierarchical Conditional Random Fields
International Journal of Robotics Research
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
VideoTrace: rapid interactive scene modelling from video
ACM SIGGRAPH 2007 papers
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Semi-automatic Annotations in Unknown Environments
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
OutlinAR: an assisted interactive model building system with reduced computational effort
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Semantic place classification of indoor environments with mobile robots using boosting
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Consistent, convergent, and constant-time SLAM
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Object recognition and localization while tracking and mapping
ISMAR '09 Proceedings of the 2009 8th IEEE International Symposium on Mixed and Augmented Reality
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
ARAMIS: toward a hybrid approach for human- environment interaction
HCII'11 Proceedings of the 14th international conference on Human-computer interaction: towards mobile and intelligent interaction environments - Volume Part III
Semantic simulation engine for supervision of mobile robotic system
ICCCI'11 Proceedings of the Third international conference on Computational collective intelligence: technologies and applications - Volume Part II
Towards realtime handheld MonoSLAM in dynamic environments
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
Bearing only SLAM: a new particle filter based approach
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Fast template matching of objects for visual SLAM
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Indoor localization using SLAM in parallel with a natural marker detector
Proceedings of the 28th Annual ACM Symposium on Applied Computing
Autonomous Landing of MAVs on an Arbitrarily Textured Landing Site Using Onboard Monocular Vision
Journal of Intelligent and Robotic Systems
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In wearable visual computing, maintaining a time-evolving representation of the 3D environment along with the pose of the camera provides the geometrical foundation on which person-centred processing can be built. In this paper, an established method for the recognition of feature clusters is used on live imagery to identify and locate planar objects around the wearer. Objects' locations are incorporated as additional 3D measurements into a monocular simultaneous localization and mapping process, which routinely uses 2D image measurements to acquire and maintain a map of the surroundings, irrespective of whether objects are present or not. Augmenting the 3D maps with automatically recognized objects enables useful annotations of the surroundings to be presented to the wearer. After demonstrating the geometrical integrity of the method, experiments show its use in two augmented reality applications.