Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
Motion Tracking: No Silver Bullet, but a Respectable Arsenal
IEEE Computer Graphics and Applications
Location based applications for mobile augmented reality
AUIC '03 Proceedings of the Fourth Australasian user interface conference on User interfaces 2003 - Volume 18
ARQuake: An Outdoor/Indoor Augmented Reality First Person Application
ISWC '00 Proceedings of the 4th IEEE International Symposium on Wearable Computers
Authoring of Physical Models Using Mobile Computers
ISWC '01 Proceedings of the 5th IEEE International Symposium on Wearable Computers
Augment-able Reality: Situated Communication through Physical and Digital Spaces
ISWC '98 Proceedings of the 2nd IEEE International Symposium on Wearable Computers
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Video Google: A Text Retrieval Approach to Object Matching in Videos
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Real-Time Localisation and Mapping with Wearable Active Vision
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Augmented Reality Working Planes: A Foundation for Action and Construction at a Distance
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Multi-Image Matching Using Multi-Scale Oriented Patches
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Mobile Vision System for Urban Detection with Informative Local Descriptors
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Going out: robust model-based tracking for outdoor augmented reality
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
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
Video-rate localization in multiple maps for wearable augmented reality
ISWC '08 Proceedings of the 2008 12th IEEE International Symposium on Wearable Computers
ISMAR '09 Proceedings of the 2009 8th IEEE International Symposium on Mixed and Augmented Reality
Real-time hierarchical GPS aided visual SLAM on urban environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
PINwI: pedestrian indoor navigation without infrastructure
Proceedings of the 6th Nordic Conference on Human-Computer Interaction: Extending Boundaries
Augmented crime scenes: virtual annotation of physical environments for forensic investigation
Proceedings of the 2nd ACM workshop on Multimedia in forensics, security and intelligence
Visual mapping and multi-modal localisation for anywhere AR authoring
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Indoor/outdoor pedestrian navigation with an embedded GPS/RFID/self-contained sensor system
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
Indoor positioning using GPS revisited
Pervasive'10 Proceedings of the 8th international conference on Pervasive Computing
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
Editorial: Special Section on Mobile Augmented Reality
Computers and Graphics
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We describe a system designed to facilitate efficient communication of information relating to the physical world using augmented reality (AR). We bring together a range of technologies to create a system capable of operating in real-time, over wide areas and for both indoor and outdoor operations. The central concept is to integrate localised mapping and tracking based on real-time visual SLAM with global positioning from both GPS and indoor ultra-wide band (UWB) technology. The former allows accurate and repeatable creation and visualisation of AR annotations within local metric maps, whilst the latter provides a coarse global representation of the topology of the maps. We call this a 'Topometric System'. The key elements are: robust and efficient vision based tracking and mapping using a Kalman filter framework; rapid and reliable vision based relocalisation of users within local maps; user interaction mechanisms for effective annotation insertion; and an integrated framework for managing and fusing mapping and positioning data. We present the results of experiments conducted over a wide area, with indoor and outdoor operations, which demonstrates successful creation and visualisation of large numbers of AR annotations over a range of different locations.