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RGBD Relocalisation Using Pairwise Geometry and Concise Key Point Sets

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Pages6374-6379
Number of pages6
ISBN (Electronic)9781479969234
ISBN (Print)9781479969241
DOIs
DateAccepted/In press - 30 Jan 2015
DateE-pub ahead of print - 26 May 2015
DatePublished (current) - 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

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.

    Research areas

  • computer vision, robotics, SLAM, delocalisation

Event

2015 IEEE International Conference on Robotics and Automation

Duration26 May 201530 May 2015
Location of eventWashington
CitySeattle
CountryUnited States
Degree of recognitionInternational event

Event: Conference

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7140094. Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 2 MB, PDF-document

DOI

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