We present in this paper an easy to use Computer Vision based platform for real-time 3D mapping, and augmented reality in indoors environments and its innovative application in Assisted Living. The information is displayed to the user by projecting it into the environment by a wearable device with embedded pico-projector. The system does not need markers or complicated set-ups, using low cost off-the-shelf equipment. It is also robust to small changes of the environment, and can make use of surrounding objects to provide more stable camera tracking. Pilot tests in health care centres and residences demonstrated the efficacy of the initial prototype.
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