Parallel Tracking and Mapping
PTAM (short for Parallel Tracking and Mapping) is a piece of computer vision software which can track the 3D position of a moving camera in real time. It is a SLAM system that does not need any prior information about the world (like markers or known natural feature targets) but instead works out the structure of the world as it goes. PTAM is useful primarily for augmented reality, although it has been applied to other tasks (robot guidance) as well. The system was first demonstrated at the ISMAR 2007 augmented reality conference, and the source code of the PC version has since been made available for general non-commercial use. This blog has news and updates relating to the PTAM source code, which is available at www.robots.ox.ac.uk/~gk/PTAM.
Parallel Tracking and Multiple Mapping
Parallel Tracking and Multiple Mapping (PTAMM) is an extension to PTAM. The key differences are support for creating and automatically localizing into multiple independent maps, and the ability to serialize maps to and from disk. PTAMM also has the basis of a game framework to allow users to add further games to the 3 included AR games. With multiple maps each map can hold its own AR, and ss the camera is moved from one mapped area to another, PTAMM automatically detects and switches to the relevant map, displaying the correct AR annotations. Detailed installation and usage instructions are also included.
Download the PTAMM Source code for Mac, Linux and Windows from http://www.robots.ox.ac.uk/~bob/software
MiniPTAM is an iPhone version of PTAM, but this is for commercial licensing only.
Licensing PTAM, PTAMM, and MiniPTAM
The PTAM and PTAMM software is free for academic use or a licence can be purchased from Isis Innovation for commercial use. MiniPTAM is only available for commercial use.