【那些年我们一起看过的论文】之《Parallel Tracking and Mapping for Small AR Workspaces》

zijinxuxu

于 2017-03-27 19:58:37 发布

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CC 4.0 BY-SA版权

分类专栏：那些年我们一起看过的文章标签： PTAM

本文链接：https://blog.youkuaiyun.com/zijinxuxu/article/details/66975547

本文介绍了一种专为小型AR工作空间设计的手持相机跟踪系统，通过双线程分别处理跟踪和建图任务。系统能稳健跟踪不稳定的手持运动，同时构建包含数千个地标点的详细3D地图。主要应用于室内环境，如桌面和房间角落。主要方法包括：跟踪与建图分离并行处理、基于关键帧的批量调整映射、从立体对初始化稠密地图、新点的极线搜索初始化以及映射大量点。

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/*
PTAM主要是实现了手提式单目相机的追踪定位与建图，开创性地提出了双线程分开执行以上两个任务。视频的追踪具有鲁棒性，且只把关键帧加入到地图中。
*/
We propose a system specifically designed to track a hand-held camera in a small AR workspace. We propose to split tracking and mapping into two separate tasks, processed in parallel threads on a dual-core computer: one thread deals with the task of robustly tracking erratic hand-held motion, while the other produces a 3D map of point features from previously observed video frames.
The result can produce detailed maps with thousands of landmarks.
The logical extension of extensible tracking is to track in scenes
without any prior map, and this is the focus of this paper.( 可扩展跟踪的逻辑扩展是在没有任何先前地图的情况下跟踪场景)
mainly used indoor situations like desktop and the corner of a room, not the outdoor city scene.
Methods:
1) Tracking and Mapping are separated, and run in two parallel threads.
2) Mapping is based on keyframes, which are processed using batch techniques