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Details of Grant 

EPSRC Reference: GR/T24685/01
Title: Real-Time Camera Localisation in Real Environments
Principal Investigator: Reid, Professor I
Other Investigators:
Davison, Professor AJ
Researcher Co-Investigators:
Project Partners:
Department: Engineering Science
Organisation: University of Oxford
Scheme: Standard Research (Pre-FEC)
Starts: 15 August 2005 Ends: 14 January 2009 Value (£): 254,887
EPSRC Research Topic Classifications:
Image & Vision Computing Multimedia
EPSRC Industrial Sector Classifications:
Creative Industries
Related Grants:
Panel History:  
Summary on Grant Application Form
The proposed research concerns the real-time localisation of a hand-held camera relative to an environment map built on the fly by the same camera at the same time.We aim to build on the successful foundation laid by EPSRC Grant GR/R89080/01 ( Real-time ego-motion estimation for a single camera ). In that short, 'proof of concept grant we advocated recursive updating of scene structure and camera motion estimates using an Extended Kalman Filter, coupled with active feature search to achieve real-time operation. We have successfully built a working robust prototype based on these principles.In the current proposal we seek specifically to focus on improving the range of operation, dynamic performance and accuracy of the single camera SLAM (i.e. Simultaneous Localisation and Mapping) framework, while keeping our research firmly within the real-time domain where experimentation can be instantaneous and interactive applications are achievable.Extending the motion range presents the most interesting problem, since the identification of previously-seen landmarks becomes increasingly difficult as motion uncertainty increases, and we plan to develop novel and rigorous algorithms for information-theoretic active search and map management to tackle this issue.We further propose to develop adaptive motion modelling techniques, implement an experimental rig for ground-truth recovery and make progress into the question of localising a lost camera with respect to a SLAM map.
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Organisation Website: http://www.ox.ac.uk