Indoor and Outdoor Navigation based on View Sequence under Variable Illumination Condition

Abstract

We propose a view-based indoor/outdoor navigation method as an extension of the view-sequence navigation. The original view-sequence navigation method uses block matching with normalized correlation for localization, which is sensitive to local illumination changes. Therefore it is only applied for indoor environment. In this paper, we adopt accumulated block matching for improving the robustness against locally changing illumination, in which a template is divided into a set of small patches, and each patch is utilized for matching. We also propose localization criteria which help a robot decide its motion. Our experimental results demonstrate the proposed methods can be applied for indoor/outdoor environments.