Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model

The need to increase the robustness of a real-time monocular SLAM system raises the important problem of relocalization;namely,how to automatically recover a SLAM system after tracking failures.We address this problem by proposing a real-time relocalization algorithm based on a hierarchical bipartite graph model.When the SLAM system is lost,we use the latter model to find sufficient correspondences between the detected image and stored map features,thus achieving efficient,real-time relocalization.The model accounts for both temporal and spatial constraints.Experimental results on both synthetic and real data support the effectiveness of the proposed algorithm.