Mobile robot localization using place recognition in outdoor environments with similar scenes

摘要

In this paper, we propose a mobile robot localization system using appearance based place recognition. Our system uses appearance based place recognition and dead reckoning with Gyrodometry model. We use theory of the observation likelihood estimation introduced from Fast Appearance Based Mapping (FAB-MAP) for appearance based place recognition. Images collected by a robot produce Bag-of-Words representation and Chow Liu trees. This representation is based on quantized SURF detectors/descriptors. A certain place can be recognized when the image collected matches a reference image coming from the same place in the scene database. In addition, problems of appearance based place recognition techniques are solved by using sensor fusion. Experimental results are presented in an outdoor environment. The proposed localization system can achieve the average robot's position error within 2% without GPS in an outdoor environment.