The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
Semi-dense visual odometry for AR on a smartphone
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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Citations
Cites
Parallel Tracking and Mapping for Small AR Workspaces
Klein, G., & Murray, D. (2007) · 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality · doi:10.1109/ismar.2007.4538852 · Cited by 4,346
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
LSD-SLAM: Large-scale direct monocular SLAM
Engel, J., Schöps, T., & Cremers, D. (2014) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-10605-2_54 · Cited by 3,851
Self-citationDTAM: Dense tracking and mapping in real-time
Newcombe, R. A., Lovegrove, S. J., & Davison, A. J. (2011) · 2011 International Conference on Computer Vision · doi:10.1109/iccv.2011.6126513 · Cited by 2,078
REMODE: Probabilistic, monocular dense reconstruction in real time
Pizzoli, M., Forster, C., & Scaramuzza, D. (2014) · 2014 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2014.6907233 · Cited by 330
Cited by
LSD-SLAM: Large-scale direct monocular SLAM
Engel, J., Schöps, T., & Cremers, D. (2014) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-10605-2_54 · Cited by 3,851
Self-citationPose estimation for augmented reality: a hands-on survey
Marchand, E., Uchiyama, H., & Spindler, F. (2016) · IEEE Transactions on Visualization and Computer Graphics · doi:10.1109/tvcg.2015.2513408 · Cited by 746
Metadata
- Authors
- Schops, T., Engel, J., & Cremers, D.
- Venue
- 2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)
- Publisher
- IEEE
- Published
- 2014-09
- Pages
- 145-150
- OpenAlex
- W2013503831
- Cited by
- 158
- References
- 5
- FWCI
- 40.51
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Schops, T., Engel, J., & Cremers, D. (2014). Semi-dense visual odometry for AR on a smartphone. 2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR). https://doi.org/10.1109/ismar.2014.6948420
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