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In this paper, we introduce CamSLAM, a simultaneous localization and mapping (SLAM) framework composed of a powerful visualinertial odometry backbone using an error-state Extended Kalman Filter (EKF) for sensor fusion, and a very efficient and lightweight parallel mapping engine utilizing keyframe based pose graph data structure and binary descriptors for feature matching and indexing. The framework...
This investigation presents an adaptive simultaneous localization and mapping (SLAM) system using sensor fusion based on confidence weighted average technique. The confidence weights for the sensor data are adapted based on instantaneous sensor accuracy evaluated during robot navigation. To this extent, a performance metric called the map spread factor is formulated which is based on the mismatch...
In this paper we present a dual, wide area, collaborative augmented reality (AR) system that consists of standard live view augmentation, e.g., from helmet, and zoomed-in view augmentation, e.g., from binoculars. The proposed advanced scouting capability allows long range high precision augmentation of live unaided and zoomed-in imagery with aerial and terrain based synthetic objects, vehicles, people...
In this paper we present an augmented reality binocular system to allow long range high precision augmentation of live telescopic imagery with aerial and terrain based synthetic objects, vehicles, people and effects. The inserted objects must appear stable in the display and must not jitter and drift as the user pans around and examines the scene with the binoculars. The design of the system is based...
In this paper, we expand our previous work on augmented reality (AR) binoculars to support wider range of user motion — up to thousand square meters compared to only a few square meters as before. We present our latest improvements and additions to our pose estimation pipeline and demonstrate stable registration of objects on the real world scenery while the binoculars are undergoing significant amount...
In this paper we present an augmented reality binocular system to allow long range high precision augmentation of live telescopic imagery with aerial and terrain based synthetic objects, vehicles, people and effects. The inserted objects must appear stable in the display and must not jitter and drift as the user pans around and examines the scene with the binoculars. The design of the system is based...
Camera tracking system for augmented reality applications that can operate both indoors and outdoors is described. The system uses a monocular camera, a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers, and GPS unit to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. IMU and camera...
Odometry component of a camera tracking system for augmented reality applications is described. The system uses a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers and a monocular camera to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. Tight coupling of IMU and camera is achieved...
Odometry component of a camera tracking system for augmented reality applications is described. The system uses a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers and a monocular camera to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. Tight coupling of IMU and camera is achieved...
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