A vision assisted vehicle navigation technique based on topological map construction and scene recognition

Abstract

Scene recognition and localization are important research topics for driver assistance technology and autonomous mobile robot in recent years. In this paper, we present a novel system which is able to detect the node information and construct the topological map based on omnidirectional image sequences. We use the node information from the topological map for image retrieval and localization. For the topological map construction, we utilize the Extended-HCT method and feature extraction. We also combine the content-based and feature-based image retrieval techniques for recognition and localization in the real scene image dataset. By using the proposed approach, we are able to construct a real-time image retrieval system for navigation assistance, and verify the correctness of the route. The experiments carried out on our dataset demonstrate that the proposed approach improves the conventional retrieval methods.