Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras
Abstract
This paper presents a system which combines single-camera SLAM (simultaneous localization and mapping) with established methods for feature recognition. Besides using standard salient image features to build an on-line map of the camera's environment, this system is capable of identifying and localizing known planar objects in the scene, and incorporating their geometry into the world map. Continued measurement of these mapped objects improves both the accuracy of estimated maps and the robustness of the tracking system. In the context of hand-held or wearable vision, the system's ability to enhance generated maps with known objects increases the map's value to human operators, and also enables meaningful automatic annotation of the user's surroundings. The presented solution lies between the high order enriching of maps such as scene classification, and the efforts to introduce higher geometric primitives such as lines into probabilistic maps.
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Castle et al. and Civera et al. did first attempts in small scale with a monocular SLAM with sparse features.
“First attempts were done in small scale by Castle et al. [44] and by Civera et al. [50] with a monocular SLAM with sparse features”
From Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age (2016) · cites this paper as [44]
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Cites
Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000029664.99615.94 · Cited by 55,589 · see citing works
SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955 · see citing works
A performance evaluation of local descriptors
Mikolajczyk, K., & Schmid, C. (2005) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2005.188 · Cited by 6,723 · see citing works
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Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2624754 · Cited by 3,596 · see citing works
SLAM++: Simultaneous Localisation and Mapping at the Level of Objects
Salas-Moreno, R. F., Newcombe, R. A., Strasdat, H., Kelly, P. H. J., & Davison, A. J. (2013) · 2013 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2013.178 · Cited by 945 · see citing works
Towards semantic SLAM using a monocular camera
Civera, J., Galvez-Lopez, D., Riazuelo, L., Tardos, J. D., & Montiel, J. M. M. (2011) · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2011.6094648 · Cited by 172 · see citing works
Dense Reconstruction Using 3D Object Shape Priors
Dame, A., Prisacariu, V. A., Ren, C. Y., & Reid, I. (2013) · 2013 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2013.170 · Cited by 135 · see citing works
- Authors
- Castle, R. O., Gawley, D. J., Klein, G., & Murray, D. W.
- Affiliations
- University of Oxford (GB)
- Venue
- Proceedings 2007 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2007-04
- Pages
- 4102-4107
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2131946505
- Cited by
- 68
- References
- 3
- Citations by year
- 2025: 1 · 2024: 1 · 2023: 2 · 2022: 5 · 2021: 2 · 2020: 5 · 2019: 3 · 2018: 6 · 2017: 5 · 2016: 6 · 2015: 5 · 2013: 2 · 2012: 2
- FWCI
- 13.33
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Funders
- Engineering and Physical Sciences Research Council
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Image and Video Retrieval Techniques
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Keywords
- SLAM, feature recognition, object recognition, wearable cameras, handheld camera, visual object tracking
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