Visual Mapping and Multi-modal Localisation for Anywhere AR AuthoringAndrew P. Gee, Andrew Calway, Walterio Mayol-Cuevas, Visual Mapping and Multi-modal Localisation for Anywhere AR Authoring. Proceedings of the ACCV Workshop on Application of Computer Vision for Mixed and Augmented Reality. November 2010. PDF, 1616 Kbytes.
This paper presents an Augmented Reality system that combines a range of localisation technologies that include GPS, UWB, user input and Visual SLAM to enable both retrieval and creation of annotations in most places. The system works for multiple users and enables sharing and visualizations of annotations with a control centre. The process is divided into two main steps i) global localisation and ii) 6D local mapping. For the case of visual relocalisation we develop and evaluate a method to rank local maps which improves performance over previous art. We demonstrate the system working over a wide area and for a range of environments.