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Simultaneous localization and mapping using multiple view feature descriptors

  • US 20050238200A1
  • Filed: 12/22/2004
  • Published: 10/27/2005
  • Est. Priority Date: 04/27/2004
  • Status: Active Grant
First Claim
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1. A method for wide baseline matching, comprising the steps of:

  • receiving a sequence of images wherein consecutive images have an incremental change;

    generating a training feature descriptor, the training feature descriptor based on the incremental change;

    creating a map of a scene captured by the sequence of images using the training feature descriptor and position information derived from the sequence of images;

    receiving a recognition image containing an appearance variation relative to at least a last image from the sequence of images;

    extracting a recognition feature descriptor from the recognition image;

    matching the recognition feature descriptor to the training feature descriptor; and

    determining a position within the map.

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