Global Localization from Monocular SLAM on a Mobile Phone

Jonathan Ventura, Clemens Arth, Gerhard Reitmayr and Dieter Schmalstieg

Graz University of Technology


We propose the combination of a keyframe-based monocular SLAM system and a global localization method. The SLAM system runs locally on a camera-equipped mobile client and provides continuous, relative 6DoF pose estimation as well as keyframe images with computed camera locations. As the local map expands, a server process localizes the keyframes with a pre-made, globally-registered map and returns the global registration correction to the mobile client. The localization result is updated each time a keyframe is added, and observations of global anchor points are added to the client-side bundle adjustment process to further refine the SLAM map registration and limit drift. The end result is a 6DoF tracking and mapping system which provides globally registered tracking in real-time on a mobile device, overcomes the difficulties of localization with a narrow field-of-view mobile phone camera, and is not limited to tracking only in areas covered by the offline reconstruction.



Ventura, J., C. Arth, G. Reitmayr, and D. Schmalstieg, Global Localization from Monocular SLAM on a Mobile Phone, IEEE Virtual Reality, 2014.