Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model
文献类型：期刊论文
| 作者 | Dong QiuLei ; Gu ZhaoPeng; Hu ZhanYi
|
| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2012-12-01 |
| 卷号 | 55期号:12页码:2841-2848 |
| 关键词 | monocular SLAM real-time relocalization hierarchical bipartite graph model |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000312884300013 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/2998]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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