Visual-inertial 6-DOF localization for a wearable immersive VR/AR system

L. Carozza, F. Bosché, M. Abdel-Wahab

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

We present a real-time visual-inertial localization approach directly integrable in a wearable immersive system for simulation and training. In this context, while CAVE systems typically require complex and expensive set-up, our approach relies on visual and inertial information provided by consumer monocular camera and Inertial Measurement Unit, embedded in a wearable stereoscopic HMD. 6-DOF localization is achieved through image registration with respect to a 3D map of descriptors of the training room and robust tracking of visual features. We propose a novel efficient and robust pipeline based on state-of-the-art image-based localization and sensor fusion approaches, which makes use of robust orientation information from FMU, to cope with camera fast motion and limit motion jitters. The proposed system runs at 30 fps on a standard PC and requires very limited set-up for its intended application.
Original languageEnglish
Title of host publication2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)
PublisherIEEE
Pages257-258
Number of pages2
ISBN (Electronic)9781479961849
DOIs
Publication statusPublished - 6 Nov 2014
Externally publishedYes
Event2014 IEEE International Symposium on Mixed and Augmented Reality - Munich, Germany
Duration: 10 Sep 201412 Sep 2014

Conference

Conference2014 IEEE International Symposium on Mixed and Augmented Reality
Abbreviated titleISMAR
Country/TerritoryGermany
CityMunich
Period10/09/1412/09/14

Keywords

  • augmented reality

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