RGBD Relocalisation Using Pairwise Geometry and Concise Key Point Sets

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.

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