A map for mobile robots consisting of a 3D model with augmented salient image features

摘要

In this work we propose a map for mobile robots which is suited for simultaneous localization and map building (SLAM). A 3D model with augmented salient appearance based image features alleviates the deficiencies of a bare 3D model in localization. The augmented appearance based features allow to distinguish between similar locations which may show little difference in the 3D model, eg. similar doors in a hallway. A new method to find distinctive landmarks is introduced as a key feature of the proposed map.