May 2006: The results of my work with J. M. M. Montiel from the University of Zaragoza, Spain, on using SLAM techniques for real-time rotation estimation and mosaicing were presented at ICRA 2006. In this work, we show that straightforward adoption of an EKF SLAM approach with sparse mapping of the directions of visual features permits fully consistent, real-time pose estimation for a rotating camera over a spherical field of view (including seamless loop closures). The following video shows the use of this technique for mesh-based mosaicing from a freely rotating hand-held camera (the scene is in front of the Royal Albert Hall, very close to Imperial College in London).
AVI
A Visual Compass based on SLAM (PDF format),
J. M. M. Montiel and Andrew J. Davison, ICRA 2006.
