Parallel Tracking and Mapping for Small AR...
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Parallel Tracking and Mapping for Small AR Workspaces
Parallel Tracking and Mapping for Small AR Workspaces
Georg Klein and David MurrayActive Vision Lab, Oxford
This is a PDF of the slides of the talk given at ISMAR 2007
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Parallel Tracking and Mapping for Small AR Workspaces
Aim● AR with a hand-held camera● Visual Tracking provides registration
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Parallel Tracking and Mapping for Small AR Workspaces
Aim● AR with a hand-held camera● Visual Tracking provides registration
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Parallel Tracking and Mapping for Small AR Workspaces
Aim● AR with a hand-held camera● Visual Tracking provides registration● Track without prior model of world
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Parallel Tracking and Mapping for Small AR Workspaces
Aim● AR with a hand-held camera● Visual Tracking provides registration● Track without prior model of world● Challenges:
– Speed
– Accuracy
– Robustness
– Interaction with real world
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Parallel Tracking and Mapping for Small AR Workspaces
Existing attempts: SLAM● Simultaneous Localisation and Mapping
● Well-established in robotics (using a rich array of sensors)
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Parallel Tracking and Mapping for Small AR Workspaces
Existing attempts: SLAM● Simultaneous Localisation and Mapping
Courtesy of Oxford Mobile Robotics Group
● Well-established in robotics (using a rich array of sensors)
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Parallel Tracking and Mapping for Small AR Workspaces
Existing attempts: SLAM● Simultaneous Localisation and Mapping
Courtesy of Oxford Mobile Robotics Group
● Well-established in robotics (using a rich array of sensors)
● Demonstrated with a single hand-held camera by Davison 2003
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Parallel Tracking and Mapping for Small AR Workspaces
SLAM applied to AR
Davison et al 2004
Reitmayr et al ISMAR 2007
Checklov et al ISMAR 2007
Williams et al ICCV 2007
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Parallel Tracking and Mapping for Small AR Workspaces
Model-based tracking vs SLAM
Lepetit, Vachetti & Fua ISMAR 2003
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Parallel Tracking and Mapping for Small AR Workspaces
Model-based tracking vs SLAM
● Why?– SLAM fundamentally harder?
● Model-based tracking is– More robust
– More accurate
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Parallel Tracking and Mapping for Small AR Workspaces
One frame
Frame-by-frame SLAM
Find features
Update camera pose and entire map (Many DOF)
Draw graphics
DIFFICULT !
Time
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Parallel Tracking and Mapping for Small AR Workspaces
Frame-by-frame SLAM● Updating entire map every frame is expensive● Mandates “sparse map of high-quality features”
Our approach● Use dense map (of low-quality features)● Don't update the map every frame: Keyframes● Split the tracking and mapping into two threads
- A. Davison
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Parallel Tracking and Mapping for Small AR Workspaces
One frame
Frame-by-frame SLAM
Find features
Update camera pose and entire map (Many DOF)
Draw graphics
DIFFICULT !
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Parallel Tracking and Mapping for Small AR Workspaces
One frame
Parallel Tracking and Mapping
Find features
Update camera pose (6-DOF)
Draw graphics
Update map
Thread 1: Tracking
Thread 2: Mapping
Easy! :-)
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Parallel Tracking and Mapping for Small AR Workspaces
Thread 1: Tracking
Thread 2: Mapping
Tracking thread:
- Responsible estimation of camera pose and rendering augmented graphics
- Must run at 30Hz
- Make as robust and accurate as possible
Mapping thread:
- Responsible for providing the map
- Can take lots of time per keyframe
- Make as rich and accurate as possible
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Parallel Tracking and Mapping for Small AR Workspaces
Mapping thread
Stereo Initialisation
Wait for new keyframe
Add new map points
Optimise mapTracker
Map maintenance
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Parallel Tracking and Mapping for Small AR Workspaces
● Use five-point-pose algorithm (Stewenius et al '06)● Requires a pair of frames and feature
correspondences● Provides initial map● User input required:
– Two clicks for two keyframes
– Smooth motion for feature correspondence
Stereo Initialisation
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Parallel Tracking and Mapping for Small AR Workspaces
● Keyframes are only added if:– There is a baseline to the other keyframes
– Tracking quality is good
● When a keyframe is added:– The mapping thread stops whatever it is doing
– All points in the map are measured in the keyframe
– New map points are found and added to the map
Wait for new keyframe Tracker
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Parallel Tracking and Mapping for Small AR Workspaces
● Want as many map points as possible● Check all maximal FAST corners in the keyframe:
– Check Shi-Tomasi score
– Check if already in map
● Epipolar search in a neighbouring keyframe● Triangulate matches and add to map● Repeat in four image pyramid levels
Add new map points
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Parallel Tracking and Mapping for Small AR Workspaces
● Use batch SFM method: Bundle Adjustment*● Adjusts map point positions and keyframe poses● Minimises reprojection error of all points in all
keyframes (or use only last N keyframes)● Cubic complexity with keyframes, linear with map
points● Compatible with M-estimators (we use Tukey)
Optimise map
* - According to Engels, Stewenius and Nister, this rules
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Parallel Tracking and Mapping for Small AR Workspaces
● When camera is not exploring, mapping thread has idle time – use this to improve the map
● Data association in bundle adjustment is reversible● Re-attempt outlier measurements● Try to measure new map features in all old
keyframes
Map Maintenance
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Parallel Tracking and Mapping for Small AR Workspaces
Mapping thread
Stereo Initialisation
Wait for new keyframe
Add new map points
Optimise mapTracker
Map maintenance
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Parallel Tracking and Mapping for Small AR Workspaces
Tracking thread
Stereo Initialisation
Wait for new keyframe
Add new map points
Optimise mapTracker
Map maintenance
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Parallel Tracking and Mapping for Small AR Workspaces
Tracking thread
● Responsible estimation of camera pose and rendering augmented graphics
● Must run at 30Hz● Make as robust and accurate as possible● Track/render loop with two tracking stages
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Parallel Tracking and Mapping for Small AR Workspaces
Fine stage
Tracking thread
Project points
Measure points
Update Camera Pose
Project points
Measure points
Update Camera Pose
Draw Graphics
Pre-process frame
Coarse stage
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Parallel Tracking and Mapping for Small AR Workspaces
● Make mono and RGB version of image
Pre-process frame
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Parallel Tracking and Mapping for Small AR Workspaces
● Make mono and RGB version of image
● Make four pyramid levels
Pre-process frame
640x480 320x240 160x120 80x60
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Parallel Tracking and Mapping for Small AR Workspaces
● Make mono and RGB version of image
● Make four pyramid levels● Detect FAST corners
Pre-process frame
640x480 320x240 160x120 80x60
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Parallel Tracking and Mapping for Small AR Workspaces
● Use motion model to update camera pose● Project all map points into image to see which are
visible, and at what pyramid level● Choose subset to measure
– ~50 biggest features for coarse stage
– 1000 randomly selected for fine stage
Project Points
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Parallel Tracking and Mapping for Small AR Workspaces
● Generate 8x8 matching template (warped from source keyframe)
● Search a fixed radius around projected position– Use zero-mean SSD
– Only search at FAST corner points
● Up to 10 inverse composition iterations for sub-pixel position (for some patches)
● Typically find 60-70% of patches
Measure Points
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Parallel Tracking and Mapping for Small AR Workspaces
● 6-DOF problem● 10 IRWLS iterations● Tukey M-Estimator
Update camera pose
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Parallel Tracking and Mapping for Small AR Workspaces
Fine stage
Tracking thread
Project points
Measure points
Update Camera Pose
Project points
Measure points
Update Camera Pose
Draw Graphics
Pre-process frame
Coarse stage
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Parallel Tracking and Mapping for Small AR Workspaces
● What can we draw in an unknown scene?– Assume single plane visible at start
– Run VR simulation on the plane
● Radial distortion● Want proper blending
Draw graphics
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Parallel Tracking and Mapping for Small AR Workspaces
Input Image 640x480
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Parallel Tracking and Mapping for Small AR Workspaces
Undistort 1600x1200
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Parallel Tracking and Mapping for Small AR Workspaces
Render 1600x1200
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Parallel Tracking and Mapping for Small AR Workspaces
Re-distort (640x480)
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Parallel Tracking and Mapping for Small AR Workspaces
Tracking Quality Monitoring● Heuristic check based on fraction of found
measurements● Three quality levels: Good, Poor, Lost● Only add to map on `Good'● Stop tracking and relocalise on `Lost'
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Parallel Tracking and Mapping for Small AR Workspaces
Results● Is it any good?
– Yes
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Parallel Tracking and Mapping for Small AR Workspaces
Comparison to EKF-SLAM
EKF-SLAM ICCV 2007
ISMAR 2007
● More accurate● More robust● Faster tracking
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Parallel Tracking and Mapping for Small AR Workspaces
Results Video
ISMAR 2007
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Parallel Tracking and Mapping for Small AR Workspaces
Areas in need of improvement● Outlier management● Still brittle in some scenarios
– Fine repeated texture
– Stereo initialisation
● No occlusion reasoning● Point cloud is inadequate for AR
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Parallel Tracking and Mapping for Small AR Workspaces
● No occlusion reasoning● Point cloud is inadequate for AR
● User interaction?
Reitmayr et al ISMAR 2007 Checklov et al ISMAR 2007
● Automatic primitive detection?
● Live dense reconstruction?
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Parallel Tracking and Mapping for Small AR Workspaces
Parallel Tracking and Mapping for Small AR Workspaces
Georg Klein and David MurrayActive Vision Lab, Oxford