Real-Time SLAM Relocalisation

11 years 4 months ago
Real-Time SLAM Relocalisation
Monocular SLAM has the potential to turn inexpensive cameras into powerful pose sensors for applications such as robotics and augmented reality. However, current implementations lack the robustness required to be useful outside laboratory conditions: blur, sudden motion and occlusion all cause tracking to fail and corrupt the map. Here we present a system which automatically detects and recovers from tracking failure while preserving map integrity. By extending recent advances in keypoint recognition the system can quickly resume tracking ? i.e. within a single frame time of 33ms ? using any of the features previously stored in the map. Extensive tests show that the system can reliably generate maps for long sequences even in the presence of frequent tracking failure.
Brian Williams, Georg Klein, Ian D. Reid
Added 14 Oct 2009
Updated 30 Oct 2009
Type Conference
Year 2007
Where ICCV
Authors Brian Williams, Georg Klein, Ian D. Reid
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