Real-time SLAM relocalization with online learning of binary feature indexing
作者: Youji FengYihong WuLixin Fan
作者单位: 1Chinese Academy of Sciences
2Nokia Technologies
刊名: Machine Vision and Applications, 2017, Vol.28 (8), pp.953-963
来源数据库: Springer Nature Journal
DOI: 10.1007/s00138-017-0873-z
关键词: SLAM relocalizationBinary feature indexingApproximate nearest neighbor search
英文摘要: 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...
原始语种摘要: 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...
全文获取路径: Springer Nature  (合作)
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影响因子:1.103 (2012)

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关键词翻译
关键词翻译
  • feature 结构元件
  • indexing 分度
  • SLAM Stored-Logic Adaptive Microcircuit
  • online 联机
  • hashing 散列法
  • binary 二元的
  • nearest 最接近的
  • matching 匹配
  • simultaneous 同时的
  • camera 摄影机