Location Recognition and Global Localization Based on Scale-Invariant Keypoints

摘要

The localization capability of a mobile robot is central to basic navigation and map building tasks. We describe a probabilistic environment model which facilitates global localization scheme by means of location recognition. In the exploration stage the environment is partitioned into several locations, each characterized by a set of scale-invariant keypoints. The descriptors associated with these keypoints can be robustly matched despite the changes in contrast, scale and affine distortions. We demonstrate the efficacy of these features for location recognition, where given a new view the most likely location from which this view came is determined. The misclassifications due to dynamic changes in the environment or inherent location appearance ambiguities are overcome by exploiting the location neighborhood relationships captured by a Hidden Markov Model. We report the recognition performance of this approach in an indoor environment consisting of eighteen locations and discuss the suitability of this approach for a more general class of recognition problems.