Global Localization from Monocular SLAM on a Mobile Phone (with Jonathan Ventura, Clemens Arth, Dieter Schmalstieg)

This paper proposes to combine a keyframe-based monocular SLAM system with a global localization method. 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.