RGBD Relocalisation Using Pairwise Geometry and Concise Key Point Sets

Shuda Li, Andrew D Calway

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

13 Citations (Scopus)
375 Downloads (Pure)

Abstract

We describe a novel RGBD relocalisation algorithm based on key point matching. It combines two com- ponents. First, a graph matching algorithm which takes into account the pairwise 3-D geometry amongst the key points, giving robust relocalisation. Second, a point selection process which provides an even distribution of the ‘most matchable’ points across the scene based on non-maximum suppression within voxels of a volumetric grid. This ensures a bounded set of matchable key points which enables tractable and scalable graph matching at frame rate. We present evaluations using a public dataset and our own more difficult dataset containing large pose changes, fast motion and non-stationary objects. It is shown that the method significantly out performs state-of-the-art methods.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
Subtitle of host publicationProceedings of a meeting held 26-30 May 2015, Seattle, Washington, US
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages6374-6379
Number of pages6
ISBN (Electronic)9781479969234
ISBN (Print)9781479969241
DOIs
Publication statusPublished - Aug 2015
Event2015 IEEE International Conference on Robotics and Automation - Washington, Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings of the IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation
CountryUnited States
CitySeattle
Period26/05/1530/05/15

Keywords

  • computer vision
  • robotics
  • SLAM
  • delocalisation

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  • Cite this

    Li, S., & Calway, A. D. (2015). RGBD Relocalisation Using Pairwise Geometry and Concise Key Point Sets. In 2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Proceedings of a meeting held 26-30 May 2015, Seattle, Washington, US (pp. 6374-6379). (Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2015.7140094