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ISMAR 2014 - Sep 10-12 - Munich, Germany

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Semi-Dense Visual Odometry for AR on a Smartphone

SCHEDULE INFORMATION

Event TitleSession TitleChairRoomStartEnd
TrackingTrackingGeorg Klein, Microsoft CorporationHS111 Sep, 2014 04:00 PM11 Sep, 2014 06:00 PM
Authors: 
Thomas Schöps
Authors: 
Jakob Engel
Authors: 
Daniel Cremers
Abstract: 
We present a direct monocular visual odometry system which runs in real-time on a smartphone. Being a direct method, it tracks and maps on the images themselves instead of extracted features such as keypoints. New images are tracked using direct image alignment, while geometry is represented in the form of a semi-dense depth map. Depth is estimated by filtering over many small-baseline, pixel-wise stereo comparisons. This leads to significantly less outliers and allows to map and use all image regions with sufficient gradient, including edges. We show how a simple world model for AR applications can be derived from semi-dense depth maps, and demonstrate the practical applicability in the context of an AR application in which simulated objects can collide with real geometry.

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