IEEE Trans Pattern Anal Mach Intell - Automatic Relocalization and Loop Closing for Real-Time Monocular SLAM.

Tópicos

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Resumo

Monocular SLAM has the potential to turn inexpensive cameras into powerful pose sensors for applications such as robotics and augmented reality. We present a relocalization module for such systems which solves some of the problems encountered by previous monocular SLAM systems-tracking failure, map merging, and loop closure detection. This module extends recent advances in keypoint recognition to determine the camera pose relative to the landmarks within a single frame time of 33 ms. We first show how this module can be used to improve the robustness of these systems. Blur, sudden motion, and occlusion can all cause tracking to fail, leading to a corrupted map. Using the relocalization module, the system can automatically detect and recover from tracking failure while preserving map integrity. Extensive tests show that the system can then reliably generate maps for long sequences even in the presence of frequent tracking failure. We then show that the relocalization module can be used to recognize overlap in maps, i.e., when the camera has returned to a previously mapped area. Having established an overlap, we determine the relative pose of the maps using trajectory alignment so that independent maps can be merged and loop closure events can be recognized. The system combining all of these abilities is able to map larger environments and for significantly longer periods than previous systems.

Resumo Limpo

monocular slam potenti turn inexpens camera power pose sensor applic robot augment realiti present reloc modul system solv problem encount previous monocular slam systemstrack failur map merg loop closur detect modul extend recent advanc keypoint recognit determin camera pose relat landmark within singl frame time ms first show modul can use improv robust system blur sudden motion occlus can caus track fail lead corrupt map use reloc modul system can automat detect recov track failur preserv map integr extens test show system can reliabl generat map long sequenc even presenc frequent track failur show reloc modul can use recogn overlap map ie camera return previous map area establish overlap determin relat pose map use trajectori align independ map can merg loop closur event can recogn system combin abil abl map larger environ signific longer period previous system

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