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CHANGE INVARIANT SCENE RECOGNITION BY AN AGENT

  • US 20120209514A1
  • Filed: 02/14/2011
  • Published: 08/16/2012
  • Est. Priority Date: 02/14/2011
  • Status: Active Grant
First Claim
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1. A method for change invariant scene recognition of an environment by an agent that uses image sensors to capture images, comprising:

  • grouping the images into situation image sets for locations and edges of a navigation graph to form an image database;

    obtaining a navigation image captured by the agent at the agent'"'"'s current location;

    searching through images by separately loaded situation image set from the image database to identify images that are a probable match for the navigation image;

    computing error values for matches between the navigation image and situation image sets;

    calculating a probability that situation image sets are to be used as a relevant situation image set based on the error values; and

    searching the relevant situation image set for matching purposes with the navigation image while the error value is below a defined threshold.

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