Georg Klein & David Murrayt <Parallel Tracking and Mapping for Small AR Workspaces>

Klein, G. and Murray, D. 2007.
Parallel Tracking and Mapping for Small AR Workspaces
In Proceedings of the 2007 6th IEEE and ACM international Symposium on Mixed and Augmented Reality - Volume 00 (November 13 - 16, 2007). Symposium on Mixed and Augmented Reality. IEEE Computer Society, Washington, DC, 1-10. DOI= http://dx.doi.org/10.1109/ISMAR.2007.4538852

Parallel Tracking and Mapping for Small AR Workspaces.pdf

Georg Klein
David Murray
Active Vision Laboratory, Department of Engineering Science, University of Oxford

Source Code &  Usage Example

1. parallel threads of tracking and mapping
2. mapping from smaller keyframes: batch techniques (Bundle Adjustment)
3. Initializing the map from 5-point Algorithm
4. Initializing new points with epipolar search
5. mapping thousands of points

Joint Compatibility Branch and Bound (JCBB)
http://en.wikipedia.org/wiki/JCBB

RANdom SAmple Consensus (RANSAC)
http://en.wikipedia.org/wiki/RANSAC

coarse-to-fine approach

batch method
bundle adjustment
http://en.wikipedia.org/wiki/Bundle_adjustment

Structure-from-Motion (SfM)

five-point stereo
http://en.wikipedia.org/wiki/Eight-point_algorithm

5-point algorithm
http://portal.acm.org/citation.cfm?id=987623

Henrik Stew´enius, Christopher Engels, David Nist´er
Recent Developments on Direct Relative Orientation


epipolar feature search

intensity-patch descriptor

(feature-to-feature or camera-to-feature) correlation-based search

NCC (normalized cross correlation) search
http://en.wikipedia.org/wiki/Cross-correlation#Normalized_cross-correlation


Unibrain Fire-i digital camera

http://en.wikipedia.org/wiki/YUV411

FAST-10 corner detection
http://wapedia.mobi/en/Corner_detection
http://en.wikipedia.org/wiki/Corner_detection

decaying velocity model

barrel radial distortion
http://en.wikipedia.org/wiki/Distortion_(optics)

lie group SE(3)

affine warp
warping matrix <- (1) back-projecting unit pixel displacements in the source keyframe pyramid level onto the patch's plane and then (2) projecting these into the current (target) frame

inverse compositional image alignment 

Tukey biweight objective function

M-estimator
http://en.wikipedia.org/wiki/M-estimator
Zhengyou Zhang, M-estimators

Shi-Tomasi corner detector

http://en.wikipedia.org/wiki/Levenberg-Marquardt

cubic-cost matrix factorization
http://en.wikipedia.org/wiki/Cubic_function