Mahmoud Bahaa

Name: Mahmoud Mohamed Bahaa Email: mahmoud.mohamed.bahaa@gmail.com Topic: Integration of Markerless Tracking (Parallel Tracking And Mapping) into Global Reference Frames Room: ITüpferl

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Project's Abstract

This work is meant to introducing feature-based tracking to the real-world in terms of scale and orientation (7 DoF^? - Degrees of Freedom). The problem is that feature-based tracking provides only 6DoF and the scale should be provided by an external source, but the orientation is not reliable because feature-based tracking coordinate system depends on the initialization, therefore the origin of the system differs from one initialization to another. On the other hand, marker tracking is relatively reliable and accurate, however in industrial scenarios, there are situations where using markers is not suitable, moreover the dependency on the presence of markers acts as a barrier towards using tracking in our daily life. There are two approaches for solving this problem, one using 6DoF reference poses from an accurate tracking system (Marker Tracking, IR tracking, etc.) to register the feature map of feature-based tracking in the world and another using 3D positions. Finally, this hybrid tracking system is supposed to provide both the independence of feature-based tracking and the accuracy of the other tracking system, which provides reliable, robust and powerful tracking system.

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Personal Documents

Bachelor's evaluation letter: http://campar.in.tum.de/twiki/pub/Main/MahmoudBahaa/BScEvaluation_MahmoudBahaa.pdf
TUM's recommendation letter: http://campar.in.tum.de/twiki/pub/Main/MahmoudBahaa/Recommendation-Bahaa.pdf