Applying Active Vision and SLAM to Wearables

摘要

This paper reviews aspects of the design and construction of an active wearable camera, and describes progress in equipping it with visual processing for reactive tasks like orientation stabilisation, slaving from head movements, and 2D tracking. The paper goes on to describe a first application of frame-rate simultaneous localisation and mapping (SLAM) to the wearable camera. Though relevant for any single camera undergoing general motion, the approach has particular benefits in wearable vision, allowing extended periods of purposive fixation followed by controlled redirection of gaze to other parts of the scene.