DocumentCode :
2627376
Title :
Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System
Author :
Williams, Brian ; Smith, Paul ; Reid, Ian
Author_Institution :
Dept. of Eng. Sci., Oxford Univ.
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
2784
Lastpage :
2790
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 previously-built map, and we provide a solution to aligning the two maps by splicing the camera trajectories in a consistent and optimal way.
Keywords :
Kalman filters; SLAM (robots); cameras; computer vision; image matching; particle filtering (numerical methods); stereo image processing; 3D visual landmark location; RANSAC; camera pose; camera relocalisation; camera trajectory; image matching; image patch; map alignment; monocular visual SLAM; particle filter; single-camera simultaneous localisation and mapping system; tracking failure; Cameras; Filtering; Filters; Particle tracking; Proposals; Resumes; Robotics and automation; Robustness; Simultaneous localization and mapping; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363893
Filename :
4209511
Link To Document :
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