Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model

	Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model
	Dong QiuLei; Gu ZhaoPeng; Hu ZhanYi
发表期刊	SCIENCE CHINA-INFORMATION SCIENCES
	2012-12-01
卷号	55 期号:12 页码:2841-2848
文章类型	Article
摘要	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.
关键词	Monocular Slam Real-time Relocalization Hierarchical Bipartite Graph Model
WOS标题词	Science & Technology ; Technology
收录类别	SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Information Systems
WOS记录号	WOS:000312884300013
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/2998
专题	多模态人工智能系统全国重点实验室_机器人视觉
通讯作者	Dong QiuLei
作者单位	Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China
第一作者单位	模式识别国家重点实验室
通讯作者单位	模式识别国家重点实验室
推荐引用方式 GB/T 7714	Dong QiuLei,Gu ZhaoPeng,Hu ZhanYi. Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model[J]. SCIENCE CHINA-INFORMATION SCIENCES,2012,55(12):2841-2848.
APA	Dong QiuLei,Gu ZhaoPeng,&Hu ZhanYi.(2012).Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model.SCIENCE CHINA-INFORMATION SCIENCES,55(12),2841-2848.
MLA	Dong QiuLei,et al."Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model".SCIENCE CHINA-INFORMATION SCIENCES 55.12(2012):2841-2848.

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