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Parallel Tracking and Mapping on a camera phone

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2 Author(s)
Klein, G. ; Dept. of Eng. Sci., Univ. of Oxford, Oxford, UK ; Murray, D.

Camera phones are a promising platform for hand-held augmented reality. As their computational resources grow, they are becoming increasingly suitable for visual tracking tasks. At the same time, they still offer considerable challenges: Their cameras offer a narrow field-of-view not best suitable for robust tracking; images are often received at less than 15 Hz; long exposure times result in significant motion blur; and finally, a rolling shutter causes severe smearing effects. This paper describes an attempt to implement a keyframe-based SLAMsystem on a camera phone (specifically, the Apple iPhone 3 G). We describe a series of adaptations to the Parallel Tracking and Mapping system to mitigate the impact of the device's imaging deficiencies. Early results demonstrate a system capable of generating and augmenting small maps, albeit with reduced accuracy and robustness compared to SLAM on a PC.

Published in:

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

Date of Conference:

19-22 Oct. 2009