• Journal of Korea Game Society
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• v.12 no.3
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• pp.87-96
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• 2012

This paper presents a novel EKF(Extended Kalman Filter) based SLAM(Simultaneous Localization And Mapping) system for stable camera tracking and re-localization. The obtained 3D points by SLAM are triangulated using Delaunay triangulation to establish a reference plane, and features are described by BRISK(Binary Robust Invariant Scalable Keypoints). The proposed method estimates the camera parameters from the homography of the reference plane when the tracking errors of EKF SLAM are much accumulated. Using the robust descriptors over sequence enables us to re-localize the camera position for matching over sequence even though the camera is moved abruptly.