PTAM - Parallel Tracking and Mapping on the Nokia N900

MiniPTAM running on the N900

This was a consulting project for a company in the AR industry. The goal was to demonstrate the capabilities of SLAM based tracking even on rather low powered hardware. For this purpose a port of MiniPTAM targeting the N900 was created. The goal was to demonstrate if PTAM runs sufficiently fast on the N900 and optimized to the point of running at similar frame rates as on the iPhone. Additionally some effort was put into the project to paralellize the tracking to free up more time per frame for more advanced rendering and other interface enhancements.