Parallel Tracking and Mapping for Small AR Workspaces - Usage Example

Above video shows how the software, once compiled, is used to calibrate a camera's parameters and then track a simple desktop scene. What is shown in the video can be considered typical of the system's performance.

A few things to point out:

• Yes, the camera calibration is fiddly, and slow. But you only have to do this once per camera/lens.
• The lens used is quite wide-angle.
• The camera is constantly translating while expanding the map.

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