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Recently, simultaneous localization and mapping (SLAM) has received considerable attention in augmented reality (AR) libraries and applications. Although the assumption of scene rigidity is common in most visual SLAMs, this assumption limits the possibilities of AR applications in various real-world environments. In this paper, we propose a new tracking system that integrates SLAM with a marker detection module for real-time AR applications in static and dynamic environments. Because the proposed system assumes that the marker is movable, SLAM performs tracking and mapping of the static scene except for the marker, and the marker detector estimates the 3-dimensional pose of the marker attached to the dynamic object. We can place SLAM maps, cameras, and dynamic objects (markers) on the same coordinate system, and we can also accurately augment AR resources in real-time on both the static scene and dynamic objects simultaneously. Additionally, having a static map of the scene in advance has the advantage of being able to perform tracking of static and dynamic environments with mapping disabled. In this paper, we evaluate whether the proposed tracking system is suitable for AR applications and describe a strategy for creating AR applications in static and dynamic environments with a demonstration.

Strategy for Creating AR Applications in Static and Dynamic Environments Using SLAM- and Marker Detector-Based Tracking