SYSTEMS AND METHODS FOR ROBUST SELF-RELOCALIZATION IN PRE-BUILT VISUAL MAP

摘要

Systems and methods are provided to improve the success rate of relocalization and eliminate the ambiguity of false relocalization by exploiting motions of the sensor system. During a relocalization process, a snapshot is taken using one or more visual sensors(110) and a single-shot relocalization in a visual map is implemented to establish candidate hypotheses. The visual sensors(110) move in the environment, with a movement trajectory tracked, to capture visual representations of the environment in one or more new poses. As the visual sensors(110) move, the relocalization system(100) tracks various estimated localization hypotheses and removes false ones until one winning hypothesis. Once the process is finished, the relocalization system(100) outputs a localization result with respect to the visual map.