Abstract
The need to increase the robustness of a real-time monocular SLAM system raises the important problem of relocalization; namely, how to automatically recover a SLAM system after tracking failures. We address this problem by proposing a real-time relocalization algorithm based on a hierarchical bipartite graph model. When the SLAM system is lost, we use the latter model to find sufficient correspondences between the detected image and stored map features, thus achieving efficient, real-time relocalization. The model accounts for both temporal and spatial constraints. Experimental results on both synthetic and real data support the effectiveness of the proposed algorithm.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
