Parallel Tracking And Global Mapping

It’s been a while since I last blogged as I kept receiving piles and piles of work. I do realize now, that research is not a leisurely activity although it may seem like, for a person who is looking from outside. Apart from usual activities of experiments & literature surveys, doing tutorials, marking assignments, writing conference papers, and making presentations are enough to crush a PhD student to his limits. Nevertheless all these implications help in testifying one’s potential for research and the love for science. So I thought of putting all that matters aside and write a post for the sake of contributing to the scientific knowledge. In particular I’d like to share some of the work I did in my research while taking a short break off from my studies.

Marker-less Augmented Reality has been my primary source of curiosity from the day I started my PhD journey. With my research I am exploring the ways in which we can apply AR into HRI (Human-Robot Interactions) and further improve the collaborative patterns between the man and the robot. Consequently I came up with a state-of-the-art interface based on a well- known marker-less AR platform named PTAMM (Parallel Tracking and Multiple Mapping). The interface that I brought up has the capability for marking an arbitrary point in space persistently with a virtual object (AR object). What does the term persistence mean? Suppose you have an AR object that can be clearly seen through your camera. Now you change the camera perspective, move the camera to a different location and return to your AR object from a different direction.  At this instance you must still see the AR object persistently anchored at its original location. The idea may look simple but systems with such a functionality are still rare, even at the existence of powerful AR frameworks (i.e. PTAM, PTAMM).  This is what I describe as Persistent Augmented Reality. My AR interface provides the capability to appear an AR object persistent over time and space, no matter in which direction you change the camera. See the video below. But how does it work?  What are the concepts? are the questions that you might wonder at this point.

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