Video-rate localization in multiple maps for wearable augmented reality

We show how a system for video-rate parallel camera tracking and 3D map-building can be readily extended to allow one or more cameras to work in several maps, separately or simultaneously. The ability to handle several thousand features per map at video-rate, and for the cameras to switch automatically between maps, allows spatially localized AR workcells to be constructed and used with very little intervention from the user of a wearable vision system. The user can explore an environment in a natural way, acquiring local maps in real-time. When revisiting those areas the camera will select the correct local map from store and continue tracking and structural acquisition, while the user views relevant AR constructs registered to that map.