Fast Relocalization for Visual Odometry using Binary Features

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State-of-the-art visual odometry algorithms achieve remarkable efficiency and accuracy. Under realistic conditions, however, tracking failures are inevitable and to continue tracking, a recovery strategy is required. In this paper, we propose a relocalization system that enables realtime, 6D pose recovery for wide baselines. Our approach targets specifically resource-constrained hardware such as mobile phones. By exploiting the properties of low-complexity binary feature descriptors, nearest-neighbor search is performed efficiently using Locality Sensitive Hashing.


  author = {Julian Straub AND Sebastian Hilsenbeck AND Georg Schroth AND Robert Huitl AND Andreas M{"o}ller AND Eckehard Steinbach},
  title = {Fast Relocalization For Visual Odometry Using Binary Features},
  booktitle = {IEEE International Conference on Image Processing (ICIP)},
  month = {Sep},
  year = {2013},
  address = {Melbourne, Australia},
  url = {}