September 2004: new results in recovering the surface orientations of planar patches in the world and using hand gestures for augmenting the SLAM map, both during real-time single camera SLAM. In the surface orientation work, performed in collaboration with Nick Molton and Ian Reid, an initial hypothesized orientation estimate for each feature patch is refined sequentially during real-time tracking by measuring its warped appearance change using an image alignment technique. The two movies show wire-frame rectangles at the initial orientation estimate and textured patches at the refined estimates, for a planar outdoor scene and a multiplanar indoor scene. Estimating the orientation of a patch in the world means that it becomes more useful as a feature in SLAM because its appearance can be predicted from a wide range of viewpoints and therefore matched robustly. In addition a more comprehensive scene description is built up. In the hand gesture work, done with Walterio Mayol, Ben Tordoff, and David Murray, colour segmentation is used to detect hand gestures so that a user with a wearable camera can annotate a SLAM map in real-time.
Locally Planar Patch Features for Real-Time Structure from Motion (PDF format),
Nicholas Molton, Andrew J. Davison and Ian Reid, BMVC 2004.
Interaction Between Hand and Wearable Camera in 2D and 3D Environments (PDF format),
Walterio Mayol, Andrew J. Davison, Ben Tordoff, Nick Molton and David Murray, BMVC 2004.