Using image signatures for place recognition

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 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 results for localization using occupancy grids, and also to recent results for image-based ngerprint recognition.

• Type: Journal
• Year: 1998
• Where: PRL
• Authors: Shlomo Argamon-Engelson
• Keywords: Accurate Place Recognition, Image-based Place Recognition, Place Recognition, PRL 1998