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Using image signatures for place recognition
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DOI：10.1016/S0167-8655(98)00074-9.png)
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摘要
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This paper describes and evaluates an image-based place recognition method for mobile robots based on matching image signatures. The method represents an image as a set of arrays of coarse-scale measurements over subimages. We describe several different measurement functions we devised, and show how they can be used conjunctively to improve recognition accuracy. Experimental results show that this method enables accurate place recognition, comparable to recent results for localization using occupancy grids, and also to recent results for image-based fingerprint recognition. (C) 1998 Published by Elsevier Science B.V. All rights reserved.
Keyword:
place recognition
image matching
signatures
feature extraction
mobile robotics
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3.3
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被引数:
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