In this work we present our fast (50Hz) relocalisation method based on simple visual descriptors plus a 3D geometrical test for a system performing visual 6-D relocalisation at every single frame and in real time. Continuous relocalisation is useful in re-exploration of scenes or for loop-closure in earnest. Our experiments suggest the feasibility of this novel approach that benefits from depth camera data, with a relocalisation performance of 73% while running on a single core onboard a moving platform over trajectory segments of about 120m. The system also reduces in 95% the memory footprint compared to a system using conventional SIFT-like descriptors.
- J. Martinez-Carranza, Walterio Mayol-Cuevas. Real-Time Continuous 6D Relocalisation for Depth Cameras. Workshop on Multi VIew Geometry in RObotics (MVIGRO), in conjunction with Robotics Science and Systems RSS. Berlin, Germany. June, 2013. PDF
- J. Martinez Carranza, A. Calway, W. Mayol-Cuevas, Enhancing 6D visual relocalisation with depth cameras. International Conference on Intelligent Robots and Systems IROS. November 2013.