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231224s2014 xx |||||o 00| ||eng c |
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|a 10.1109/TVCG.2014.27
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|a eng
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| 100 |
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|a Ventura, Jonathan
|e verfasserin
|4 aut
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| 245 |
1 |
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|a Global localization from monocular SLAM on a mobile phone
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|c 2014
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|a Text
|b txt
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|a ƒaComputermedien
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|a ƒa Online-Ressource
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|a Date Completed 01.04.2016
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|a Date Revised 21.03.2014
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|a published: Print
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|a Citation Status PubMed-not-MEDLINE
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|a We propose the combination of a keyframe-based monocular SLAM system and a global localization method. The SLAM system runs locally on a camera-equipped mobile client and provides continuous, relative 6DoF pose estimation as well as keyframe images with computed camera locations. As the local map expands, a server process localizes the keyframes with a pre-made, globally-registered map and returns the global registration correction to the mobile client. The localization result is updated each time a keyframe is added, and observations of global anchor points are added to the client-side bundle adjustment process to further refine the SLAM map registration and limit drift. The end result is a 6DoF tracking and mapping system which provides globally registered tracking in real-time on a mobile device, overcomes the difficulties of localization with a narrow field-of-view mobile phone camera, and is not limited to tracking only in areas covered by the offline reconstruction
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|a Journal Article
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|a Research Support, Non-U.S. Gov't
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| 700 |
1 |
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|a Arth, Clemens
|e verfasserin
|4 aut
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| 700 |
1 |
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|a Reitmayr, Gerhard
|e verfasserin
|4 aut
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| 700 |
1 |
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|a Schmalstieg, Dieter
|e verfasserin
|4 aut
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| 773 |
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|i Enthalten in
|t IEEE transactions on visualization and computer graphics
|d 1996
|g 20(2014), 4 vom: 07. Apr., Seite 531-9
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|x 1941-0506
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|g year:2014
|g number:4
|g day:07
|g month:04
|g pages:531-9
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|u http://dx.doi.org/10.1109/TVCG.2014.27
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