We present a unified method for recovering from tracking failure and closing loops in real time monocular simultaneous localisation and mapping. Within a graph-based map representation, we show that recovery and loop closing both reduce to the creation of a graph edge. We describe and implement a bag-of-words appearance model for ranking potential loop closures, and a robust method for using both structure and image appearance to confirm likely matches. The resulting system closes loops and recovers from failures while mapping thousands of landmarks, all in real time.
Eade and Drummond REF unify relocalization and loop closing in a graph-based RTMS (Real Time Monocular SLAM) system, using both appearance and structure to confirm likely matches.
Unified loop closing and recovery for real time monocular SLAM
In Proceedings British Machine Vision Conference
Computer Science