Markerless Indoor/Outdoor Augmented Reality Navigation Device Based on ORB-Visual-Odometry Positioning estimation and ORB-Visual-Mapping Image Registration

For markerless indoor/outdoor Augmented Reality Navigation (ARN) technology, camera pose is inevitably the fundamental argument of positioning estimation and pose estimation, and floor plane is indispensably the fiducial target of image registration. Based on Oriented FAST and Rotated BRIEF (ORB) feature with descriptors, this paper proposes ORB-visual-odometry positioning estimation and ORB-visual-mapping image registration to improve camera pose estimation and floor plane detection for making ARN more precise and reliable with real-time performance. Experimental results show both ORB-visual-odometry positioning estimation and ORB-visualmapping image registration have higher accuracy and reliability than conventional well-known camera-pose-based positioning estimation and floor-plane-based image registration methods, respectively, for ARN. On the other hand, markerless indoor/outdoor ARN technology with proposed two methods have seamlessly been implemented on the portable Android platform and have smoothly been verified to co-work well on the portable Android platform.