Live tracking and mapping from both general and rotation-only camera motion

  • Authors:

  • Steffen Gauglitz;Chris Sweeney;Jonathan Ventura;Matthew Turk;Tobias Hollerer

  • Affiliations:

  • Department of Computer Science, University of California, Santa Barbara, USA;Department of Computer Science, University of California, Santa Barbara, USA;Department of Computer Science, University of California, Santa Barbara, USA;Department of Computer Science, University of California, Santa Barbara, USA;Department of Computer Science, University of California, Santa Barbara, USA

  • Venue:
  • ISMAR '12 Proceedings of the 2012 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)
  • Year:
  • 2012

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Abstract

We present an approach to real-time tracking and mapping that supports any type of camera motion in 3D environments, that is, general (parallax-inducing) as well as rotation-only (degenerate) motions. Our approach effectively generalizes both a panorama mapping and tracking system and a keyframe-based Simultaneous Localization and Mapping (SLAM) system, behaving like one or the other depending on the camera movement. It seamlessly switches between the two and is thus able to track and map through arbitrary sequences of general and rotation-only camera movements.