Deriving and matching image fingerprint sequences for mobile robot localization

  title={Deriving and matching image fingerprint sequences for mobile robot localization},
  author={Pierre Lamon and Illah R. Nourbakhsh and Bj{\"o}rn Jensen and Roland Siegwart},
This paper 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. 
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