The constrained SLAM framework for non-instrumented augmented reality

M. Tamaazousti 1 S. Naudet-Collette 1 V. Gay-Bellile 1 S. Bourgeois 1 B. Besbes 1 M. Dhome 2
1 LVIC - Laboratoire Vision et Ingénierie des Contenus
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
2 IP - Institut Pascal - Clermont Auvergne
Abstract : This paper addresses the challenging issue of marker less tracking for Augmented Reality. It proposes a real-time camera localization in a partially known environment, i.e. for which a geometric 3D model of one static object in the scene is available. We propose to take benefit from this geometric model to improve the localization of keyframe-based SLAM by constraining the local bundle adjustment process with this additional information. We demonstrate the advantages of this solution, called contrained SLAM, on both synthetic and real data and present very convincing augmentation of 3D objects in real-time. Using this tracker, we also propose an interactive augmented reality system for training application. This system, based on a Optical See-Through Head Mounted Display, allows to augment the users vision field with virtual information accurately co-registered with the real world. To keep greatly benefit of the potential of this hand free device, the system combines the tracker module with a simple user-interaction vision-based module to provide overlaid information in response to user requests.
Keywords : Augmented realily Optical see-through displays SLAM Simultaneous Localisation and Mapping Local bundle adjustment 3D model
Document type :
Journal articles
Complete list of metadatas
https://hal-cea.archives-ouvertes.fr/cea-01830529
Contributor : Vincent Gay-Bellile <>
Submitted on : Thursday, July 5, 2018 - 10:28:16 AM
Last modification on : Thursday, February 7, 2019 - 5:02:28 PM

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CEA | CNRS | INSTITUT_PASCAL | CEA-UPSAY | DRT | SIGMA-CLERMONT | PRES_CLERMONT | LIST | UNIV-PARIS-SACLAY

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M. Tamaazousti, S. Naudet-Collette, V. Gay-Bellile, S. Bourgeois, B. Besbes, et al.. The constrained SLAM framework for non-instrumented augmented reality. Multimedia Tools and Applications, Springer Verlag, 2016, 75 (16), pp.9511 - 9547. ⟨10.1007/s11042-015-2968-8⟩. ⟨cea-01830529⟩

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