Simultaneous Localisation and Mapping (SLAM) with a Wearable Active Vision Camera

 

This research was done together with Andrew Davison and presented the first real-time simultaneous localisation and mapping system for an active vision camera. The intended example application is remote collaboration where a remote expert observes the world through the wearable robot and adds augmented reality annotations to be seen by the wearer.

• A.J. Davison, W.W. Mayol, and D.W. Murray. Real-Time Localisation and Mapping with Wearable Active Vision [PDF]. Proc IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Tokyo, Japan, October 7 - 10, 2003.

• W.W. Mayol, A.J. Davison, B.J. Tordoff, and D.W. Murray. Applaying Active Vision and SLAM to Wearables. Proc. 11th Int. Symposium of Robotics Research ISRR03. Siena, Italy, 19-22 October. 2003. [PDF]