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Real-time SLAM relocalization with online learning of binary feature indexing

文献类型：期刊论文

作者Feng, Youji1,2; Wu, Yihong2; Fan, Lixin3
刊名MACHINE VISION AND APPLICATIONS
出版日期2017-11-01
卷号28期号:8页码:953-963
ISSN号0932-8092
关键词SLAM relocalization Binary feature indexing Approximate nearest neighbor search
DOI10.1007/s00138-017-0873-z
通讯作者Wu, YH (reprint author), Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing, Peoples R China.
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 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.
资助项目National High Technology Research and Development Program[2015AA0 20504] ; National Natural Science Foundation of China[61572499] ; National Natural Science Foundation of China[61421004] ; Nokia Research[LF14011659182]
WOS研究方向Computer Science ; Engineering
语种英语
出版者SPRINGER
WOS记录号WOS:000413677000009
源URL[http://172.16.51.4:88/handle/2HOD01W0/132]  
专题智能安全技术研究中心
通讯作者Wu, Yihong
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
推荐引用方式
GB/T 7714		 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.

入库方式： OAI收割

来源：重庆绿色智能技术研究院

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