Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
VIS-Tracker: A Wearable Vision-Inertial Self-Tracker
VR '03 Proceedings of the IEEE Virtual Reality 2003
Extendible Tracking by Line Auto-Calibration
ISAR '01 Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'01)
Real-Time Localisation and Mapping with Wearable Active Vision
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Lucas-Kanade 20 Years On: A Unifying Framework
International Journal of Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Robust Hybrid Tracking System for Outdoor Augmented Reality
VR '04 Proceedings of the IEEE Virtual Reality 2004
Randomized Trees for Real-Time Keypoint Recognition
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
SBA: A software package for generic sparse bundle adjustment
ACM Transactions on Mathematical Software (TOMS)
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Online camera pose estimation in partially known and dynamic scenes
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
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
Generic and real-time structure from motion using local bundle adjustment
Image and Vision Computing
Wide area localization on mobile phones
ISMAR '09 Proceedings of the 2009 8th IEEE International Symposium on Mixed and Augmented Reality
Parallel Tracking and Mapping on a camera phone
ISMAR '09 Proceedings of the 2009 8th IEEE International Symposium on Mixed and Augmented Reality
Feature management for efficient camera tracking
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
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
Fusion of 3d and appearance models for fast object detection and pose estimation
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
Feature harvesting for tracking-by-detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part III
Editorial: Special Section on Mobile Augmented Reality
Computers and Graphics
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This paper focuses on the preparative process of natural feature map retrieval for a mobile camera-based tracking system. We cover the most important aspects of a general purpose tracking system including the acquisition of the scene's geometry, tracking initialization and fast and accurate frame-by-frame tracking. To this end, several state-of-the-art techniques - each targeted at one particular subproblem - are fused together, whereby their interplay and complementary benefits form the core of the system and the thread of our discussion. The choice of the individual sub-algorithms in our system reflects the scarcity of computational resources on mobile devices. In order to allow a more accurate, more robust and faster tracking during run-time, we therefore transfer the computational load into the preparative customization step wherever possible. From the viewpoint of the user, the preparative stage is kept very simple. It only involves recording the scene from various viewpoints and defining a transformation into a target coordinate frame via manual definition of only a few 3D to 3D point correspondences. Technically, the image sequence is used to (1) capture the scene's geometry by a SLAM-Method and subsequent refinement via constrained Bundle Adjustment, (2) to train a Randomized-Trees classifier for wide-baseline tracking initialization, and (3) to analyze the view-point dependent visibility of each feature. During run-time, robustness and performance of the frame-to-frame tracking are further increased by fusing inertial measurements within a combined pose estimation.