View-sequece based indoor/outdoor navigation robust to illumination changes

摘要

We propose a view-based indoor/outdoor navigation method as an extension of the view-sequence navigation. The original view-sequence navigation method uses the template matching method with normalized correlation for localization. Because the matching method is sensitive to local illumination changes, it is only used for indoor environment. In this paper, we propose to adopt the accumulated block matching method to improve robustness against locally changing illumination, in which a template is split into small patches and matched by maximizing the average of the normalized correlations of all the patches.We also propose a localization criterion which helps the robot decide its motion. Our experimental results demonstrate that the proposed methods can be applied to both indoor and outdoor environments.