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Using optical flow as lightweight SLAM alternative

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2 Author(s)
Bleser, G. ; Augmented Vision, German Res. Center for Artificial Intell., Kaiserslautern, Germany ; Hendeby, G.

Visual simultaneous localisation and mapping (SLAM) is since the last decades an often addressed problem. Online mapping enables tracking in unknown environments. However, it also suffers from high computational complexity and potential drift. Moreover, in augmented reality applications the map itself is often not needed and the target environment is partially known, e.g. in a few 3D anchor or marker points. In this paper, rather than using SLAM, measurements based on optical flow are introduced. With these measurements, a modified visual-inertial tracking method is derived, which in Monte Carlo simulations reduces the need for 3D points and allows tracking for extended periods of time without any 3D point registrations.

Published in:

Mixed and Augmented Reality, 2009. ISMAR 2009. 8th IEEE International Symposium on

Date of Conference:

19-22 Oct. 2009