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Handling Pure Camera Rotation in Keyframe-Based SLAM


Event TitleSession TitleChairRoomStartEnd
Tracking and RegistrationTrack Me If You CanTobias HoellererH2-02 Hetzel Building Main Lecture Theatre04 Oct, 2013 04:00 PM04 Oct, 2013 05:15 PM
Christian Pirchheim
Gerhard Reitmayr
Dieter Schmalstieg
Handling degenerate rotation-only camera motion is a challenge for keyframe-based simultaneous localization and mapping with six degrees of freedom. Existing systems usually filter corresponding keyframe candidates, resulting in mapping starvation and tracking failure. We propose to employ these otherwise discarded keyframes to build up local panoramic maps registered in the 3D map. Thus, the system is able to maintain tracking during rotational camera motions. Additionally, we seek to actively associate panoramic and 3D map data for improved 3D mapping through the triangulation of more new 3D map features. We demonstrate the efficacy of our approach in several evaluations that show how the combined system handles rotation only camera motion while creating larger and denser maps compared to a standard SLAM system.