Deriving and matching image fingerprint sequences for mobile robot localization
Pierre Lamon, Illah Nourbakhsh, B. Jensen, Roland Siegwart · 2002
Proposes a method for creating unique identifiers, called fingerprint sequences, for visually distinct locations by recovering statistically significant features in panoramic color images. Fingerprint sequences are expressive enough for mobile robot localization, as demonstrated using a minimum energy sequence-matching algorithm that is described. Empirical results in two different places demonstrate the reliability of the system for global localization on a Nomad Scout mobile robot.