A geometrically constrained image similarity measure for visual mapping, localization and navigation

摘要

This paper presents an measure for image similarity based on local feature descriptions and geometric constraints. We show that on the basis of this similarity an appearance graph representation of the environment of a mobile robot can be made. This graph can be used for representing semantic information about the space, and can be used for visual navigation. The image similarity measure is robust for occlusions by people in the neighbourhood of the robot.