An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Optimization Algorithms for the Selection of Key Frame Sequences of Variable Length
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
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
Automated location matching in movies
Computer Vision and Image Understanding - Special isssue on video retrieval and summarization
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Scene Modelling, Recognition and Tracking with Invariant Image Features
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Real-Time Markerless Tracking for Augmented Reality: The Virtual Visual Servoing Framework
IEEE Transactions on Visualization and Computer Graphics
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Keypoint Recognition Using Randomized Trees
IEEE Transactions on Pattern Analysis and Machine Intelligence
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
Video abstraction: A systematic review and classification
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Improving the Agility of Keyframe-Based SLAM
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: 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
Video-rate localization in multiple maps for wearable augmented reality
ISWC '08 Proceedings of the 2008 12th IEEE International Symposium on Wearable Computers
Multiple 3D Object tracking for augmented reality
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Automatically and efficiently inferring the hierarchical structure of visual maps
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Location recognition using prioritized feature matching
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Real-time dense geometry from a handheld camera
Proceedings of the 32nd DAGM conference on Pattern recognition
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
Double window optimisation for constant time visual SLAM
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
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We present a novel keyframe-based global localization method for markerless real-time camera tracking. Our system contains an offline module to select features from a group of reference images and an online module to match them to the input live video for quickly estimating the camera pose. The main contribution lies in constructing an optimal set of keyframes from the input reference images, which are required to approximately cover the entire space and at the same time to minimize the content redundancy among the selected frames. This strategy not only greatly saves computation, but also helps significantly reduce the number of repeated features. For a large-scale scene, it requires a significant effort to capture sufficient reference images and reconstruct the 3D environment. In order to alleviate the effort of offline preprocessing and enhance the tracking ability in a larger scale scene, we also propose an online reference map extension module, which can real-time reconstruct new 3D features and select online keyframes to extend the keyframe set. In addition, we develop a parallel-computing framework that employs both GPUs and multi-threading for speedup. Experimental results show that our method dramatically enhances the computing efficiency and eliminates the jittering artifacts in real-time camera tracking.