Discriminative Map Matching Using View Dependent Map Descriptor

@inproceedings{Enfu2015DiscriminativeMM,
  title={Discriminative Map Matching Using View Dependent Map Descriptor},
  author={Liu Enfu and Tanaka Kanji},
  year={2015}
}
The problem of matching a local occupancy grid map built by a mobile robot to previously built maps is crucial for autonomous navigation in both indoor and outdoor environments. In this paper, the map matching problem is addressed from a novel perspective, which is different from the classic bag-of-words (BoW) paradigm. Unlike previous BoW approaches that trade discriminativity for viewpoint invariance, we develop a local map descriptor that is viewdependent and highly discriminative. Our… CONTINUE READING

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