A topometric system for wide area augmented reality

作者：Gee Andrew P^*; Webb Matthew; Escamilla Ambrosio Jorge; Mayol Cuevas Walterio; Calway Andrew

来源：Computers & Graphics-UK, 2011, 35(4): 854-868.

DOI：10.1016/j.cag.2011.04.006

• Topometric
• Augmented reality
• Visual SLAM
• UWB
• GPS

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 'Topometric System'. 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.

• 出版日期2011-8