NDLI: Fast relocalisation and loop closing in keyframe-based SLAM

Content Provider	IEEE Xplore Digital Library
Author	Mur-Artal, R. Tardos, J.D.
Copyright Year	2014
Description	Author affiliation: Inst. de Investig. en Ing. de Aragon (13A), Univ. de Zaragoza, Zaragoza, Spain (Mur-Artal, R.; Tardos, J.D.)
Abstract	In this paper we present for the first time a relocalisation method for keyframe-based SLAM that can deal with severe viewpoint change, at frame-rate, in maps containing thousands of keyframes. As this method relies on local features, it permits the interoperability between cameras, allowing a camera to relocalise in a map built by a different camera. We also perform loop closing (detection + correction), at keyframerate, in loops containing hundreds of keyframes. For both relocalisation and loop closing, we propose a bag of words place recognizer with ORB features, which is able to recognize places spending less than 39 ms, including feature extraction, in databases containing 10K images (without geometrical verification). We evaluate the performance of this recognizer in four different datasets, achieving high recall and no false matches, and getting better results than the state-of-art in place recognition, being one order of magnitude faster.
Starting Page	846
Ending Page	853
File Size	1676153
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906953
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Feature extraction Simultaneous localization and mapping Vocabulary Three-dimensional displays Image recognition Databases
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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