Sciweavers

Share
ICRA
2007
IEEE

Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System

9 years 18 days ago
Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System
Abstract— We describe a fast method to relocalise a monocular visual SLAM (Simultaneous Localisation and Mapping) system after tracking failure. The monocular SLAM system stores the 3D locations of visual landmarks, together with a local image patch. When the system becomes lost, candidate matches are obtained using correlation, then the pose of the camera is solved via an efficient implementation of RANSAC using a three-point-pose algorithm. We demonstrate the usefulness of this method within visual SLAM: (i) we show tracking can reliably resume after tracking failure due to occlusions, motion blur or unmodelled rapid motions; (ii) we show how the method can be used as an adjunct for a proposal distribution in a particle filter framework; (iii) during successful tracking we use idle cycles to test if the current map overlaps with a previouslybuilt map, and we provide a solution to aligning the two maps by splicing the camera trajectories in a consistent and optimal way.
Brian Williams, Paul Smith, Ian D. Reid
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Brian Williams, Paul Smith, Ian D. Reid
Comments (0)
books