June 2008: New results on real-time tracking of motion with extreme dynamics using MonoSLAM with a gigabit ethernet camera at 200Hz, published at RSS 2008 in collaboration with Peter Gemeiner and Marcus Vincze from Vienna University of Technology. We show results of smooth real-time 3D tracking of a vigourously shaken hand-held camera, and one thrown from hand to hand, and present repeatable validation using a robot arm. A constant acceleration motion model is shown to improve performance at this extreme frame-rate.
AVIImproving Localization Robustness in Monocular SLAM Using a High-Speed Camera (PDF format),
Peter Gemeiner, Andrew J. Davison and Markus Vincze, RSS 2008.
