Relocalisation is about finding out where the camera is in translation and rotation (6D) when it visits the space for the first time after a map has been created, or if gets lost during tracking due to occlusion. This is also known as the "kidnapped robot" problem in Robotics and appears frequently in SLAM at the loopclosing stage. Here, we develop a fast relocalisation method for RGB-D cameras that operates in workplaces where low texture and some occlusion can be present. Videos are available here.
- Andrew P. Gee, Walterio Mayol-Cuevas, 6D Relocalisation for RGBD Cameras Using Synthetic View Regression. Proceedings of the British Machine Vision Conference (BMVC). September 2012. PDF.