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Real-time SLAM relocalization with online learning of binary feature indexing
Feng, Youji1,2; Wu, Yihong2; Fan, Lixin3
2017-11-01
发表期刊MACHINE VISION AND APPLICATIONS
卷号28期号:8页码:953-963
文章类型Article
摘要A visual simultaneous localization and mapping (SLAM) system usually contains a relocalization module to recover the camera pose after tracking failure. The core of this module is to establish correspondences between map points and key points in the image, which is typically achieved by local image feature matching. Since recently emerged binary features have orders of magnitudes higher extraction speed than traditional features such as scale invariant feature transform, they can be applied to develop a real-time relocalization module once an efficient method of binary feature matching is provided. In this paper, we propose such a method by indexing binary features with hashing. Being different from the popular locality sensitive hashing, the proposed method constructs the hash keys by an online learning process instead of pure randomness. Specifically, the hash keys are trained with the aim of attaining uniform hash buckets and high collision rates of matched feature pairs, which makes the method more efficient on approximate nearest neighbor search. By distributing the online learning into the simultaneous localization and mapping process, we successfully apply the method to SLAM relocalization. Experiments show that camera poses can be recovered in real time even when there are tens of thousands of landmarks in the map.
关键词Slam Relocalization Binary Feature Indexing Approximate Nearest Neighbor Search
WOS标题词Science & Technology ; Technology
DOI10.1007/s00138-017-0873-z
收录类别SCI
语种英语
项目资助者National High Technology Research and Development Program(2015AA0 20504) ; National Natural Science Foundation of China(61572499 ; Nokia Research(LF14011659182) ; 61421004)
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Engineering, Electrical & Electronic
WOS记录号WOS:000413677000009
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20746
专题模式识别国家重点实验室_机器人视觉
作者单位1.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing, Peoples R China
3.Nokia Technol, Tampere, Finland
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Feng, Youji,Wu, Yihong,Fan, Lixin. Real-time SLAM relocalization with online learning of binary feature indexing[J]. MACHINE VISION AND APPLICATIONS,2017,28(8):953-963.
APA Feng, Youji,Wu, Yihong,&Fan, Lixin.(2017).Real-time SLAM relocalization with online learning of binary feature indexing.MACHINE VISION AND APPLICATIONS,28(8),953-963.
MLA Feng, Youji,et al."Real-time SLAM relocalization with online learning of binary feature indexing".MACHINE VISION AND APPLICATIONS 28.8(2017):953-963.
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