Summary: Using Image Signatures for Place Recognition
Dept. Mathematics and Computer Science
52900 Ramat Gan, Israel
This paper describes and evaluates an image-based place recogni-
tion method for mobile robots based on matching image signatures.
The method represents an image as a set of arrays of coarse-scale mea-
surements over subimages. We describe several di erent 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 re-
sults for localization using occupancy grids, and also to recent results
for image-based ngerprint recognition.
Keywords: Place recognition, Image matching, Signatures,
Feature extraction, Mobile robotics