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A Topometric System for Wide Area Augmented Reality

Andrew P. Gee, P.J. Escamilla-Ambrosio, Matthew Webb, Walterio Mayol-Cuevas, Andrew Calway, A Topometric System for Wide Area Augmented Reality. Computers & Graphics, 35(4). ISSN 0097-8493, pp. 854–868. August 2011. No electronic version available. External information


We describe a system designed to facilitate efficient communication of information relating to the physical world using augmented reality (AR). We bring together a range of technologies to create a system capable of operating in real-time, over wide areas and for both indoor and outdoor operations. The central concept is to integrate localised mapping and tracking based on real-time visual SLAM with global positioning from both GPS and indoor ultra-wide band (UWB) technology. The former allows accurate and repeatable creation and visualisation of AR annotations within local metric maps, whilst the latter provides a coarse global representation of the topology of the maps. We call this a a??Topometric Systema??. The key elements are: robust and efficient vision based tracking and mapping using a Kalman filter framework; rapid and reliable vision based relocalisation of users within local maps; user interaction mechanisms for effective annotation insertion; and an integrated framework for managing and fusing mapping and positioning data. We present the results of experiments conducted over a wide area, with indoor and outdoor operations, which demonstrates successful creation and visualisation of large numbers of AR annotations over a range of different locations.

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