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Direct and Indirect vSLAM Fusion for Augmented Reality

Mohamed Outahar 1, 2 Guillaume Moreau 3, 4 Jean-Marie Normand 1, 2
2 CRENAU - Centre de recherche nantais Architectures Urbanités
AAU - Ambiances, Architectures, Urbanités
3 Lab-STICC_INUIT - Equipe Immersive Natural User Interaction team
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance : UMR6285
Abstract : Augmented reality (AR) is an emerging technology that is applied in many fields. One of the limitations that still prevents AR to be even more widely used relates to the accessibility of devices. Indeed, the devices currently used are usually high end, expensive glasses or mobile devices. vSLAM (visual simultaneous localization and mapping) algorithms circumvent this problem by requiring relatively cheap cameras for AR. vSLAM algorithms can be classified as direct or indirect methods based on the type of data used. Each class of algorithms works optimally on a type of scene (e.g., textured or untextured) but unfortunately with little overlap. In this work, a method is proposed to fuse a direct and an indirect methods in order to have a higher robustness and to offer the possibility for AR to move seamlessly between different types of scenes. Our method is tested on three datasets against state-of-the-art direct (LSD-SLAM), semi-direct (LCSD) and indirect (ORBSLAM2) algorithms in two different scenarios: a trajectory planning and an AR scenario where a virtual object is displayed on top of the video feed; furthermore, a similar method (LCSD SLAM) is also compared to our proposal. Results show that our fusion algorithm is generally as efficient as the best algorithm both in terms of trajectory (mean errors with respect to ground truth trajectory measurements) as well as in terms of quality of the augmentation (robustness and stability). In short, we can propose a fusion algorithm that, in our tests, takes the best of both the direct and indirect methods.
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Submitted on : Friday, August 13, 2021 - 9:45:26 AM
Last modification on : Wednesday, October 20, 2021 - 3:18:56 AM

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Mohamed Outahar, Guillaume Moreau, Jean-Marie Normand. Direct and Indirect vSLAM Fusion for Augmented Reality. Journal of Imaging, MDPI, 2021, 7 (8), pp.141. ⟨10.3390/jimaging7080141⟩. ⟨hal-03319808⟩



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