Camera pose estimation for augmented reality in a small indoor dynamic scene

Rawia Frikha; Ridha Ejbali; Mourad Zaied

doi:10.1117/1.JEI.26.5.053029

30 October 2017 Camera pose estimation for augmented reality in a small indoor dynamic scene

Rawia Frikha, Ridha Ejbali, Mourad Zaied

Author Affiliations +

Funded by: General Direction of Scientific Research (DGRST)

Journal of Electronic Imaging, Vol. 26, Issue 5, 053029 (October 2017). https://doi.org/10.1117/1.JEI.26.5.053029

Abstract

Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

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Rawia Frikha, Ridha Ejbali, and Mourad Zaied "Camera pose estimation for augmented reality in a small indoor dynamic scene," Journal of Electronic Imaging 26(5), 053029 (30 October 2017). https://doi.org/10.1117/1.JEI.26.5.053029

Received: 23 May 2017; Accepted: 6 October 2017; Published: 30 October 2017

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