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Paper Abstract and Keywords
Presentation 2010-05-13 17:15
Visual Localization for First-person Vision System
Shuntaro Yamazaki, Masaaki Mochimaru, Takeo Kanade (AIST) IE2010-27 PRMU2010-15 MI2010-15
Abstract (in Japanese) (See Japanese page) 
(in English) We describe a method of image-based localization suitable for the First-Persion Vision system composed of a single head-mouted video camera. Assuming the camera motion is within a known environment, mapping and localization are conducted in two separate processes. In mapping, the 3D structure of the environment is reconstructed from uncalibrated images using a Structure-from-Motion technique. The structure is then refined by a multi-view stereo algorithm. Each point in the reconstructed 3D point cloud are associated with the corresponding image features, composing a set of triplets of 3D point, image feature, and viewing direction. The mapping process is time consuming and conducted in advance. Localization, on the other hand, can be at an interactive speed taking advantage of the precomputed triplets. First,image features are extracted given an image acquired by a head-mounted camera. The corresponding points in the environment are sought using the features as query keys, and matched to estimate the camera pose in the environment. We demonstrate that a large environment map is created using more than 500 images, and the localization is with centimeter accuracy and at an interactive speed. We believe our sensing system is simple and accurate, and therefore suitable for activity modeling and behavior understanding in everyday life environment.
Keyword (in Japanese) (See Japanese page) 
(in English) First-Person Vision / mapping / localization / Structure-from-Motion / Multi-View Stereo / SIFT / realtime /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 27, PRMU2010-15, pp. 73-78, May 2010.
Paper # PRMU2010-15 
Date of Issue 2010-05-06 (IE, PRMU, MI) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (No. 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF IE2010-27 PRMU2010-15 MI2010-15

Conference Information
Committee PRMU IE MI  
Conference Date 2010-05-13 - 2010-05-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Chubu Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2010-05-PRMU-IE-MI 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Visual Localization for First-person Vision System 
Sub Title (in English)  
Keyword(1) First-Person Vision  
Keyword(2) mapping  
Keyword(3) localization  
Keyword(4) Structure-from-Motion  
Keyword(5) Multi-View Stereo  
Keyword(6) SIFT  
Keyword(7) realtime  
1st Author's Name Shuntaro Yamazaki  
1st Author's Affiliation National Institute of Advanced Industrial Science and Technology (AIST)
2nd Author's Name Masaaki Mochimaru  
2nd Author's Affiliation National Institute of Advanced Industrial Science and Technology (AIST)
3rd Author's Name Takeo Kanade  
3rd Author's Affiliation National Institute of Advanced Industrial Science and Technology (AIST)
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Date Time 2010-05-13 17:15:00 
Presentation Time 30 
Registration for PRMU 
Paper # IEICE-IE2010-27,IEICE-PRMU2010-15,IEICE-MI2010-15 
Volume (vol) IEICE-110 
Number (no) no.26(IE), no.27(PRMU), no.28(MI) 
Page pp.73-78 
#Pages IEICE-6 
Date of Issue IEICE-IE-2010-05-06,IEICE-PRMU-2010-05-06,IEICE-MI-2010-05-06 

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