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

@article{Williams2007AutomaticRF,
  title={Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System},
  author={Brian Patrick Williams and Paul Smith and Ian D. Reid},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={2784-2790}
}
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… CONTINUE READING
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