Topological map construction and scene recognition for vehicle localization

Abstract

This paper presents a vehicle localization method to assist vehicle navigation based on topological map construction and scene recognition. A topological map is constructed using omni-directional image sequences, and the node information of the topological map is used for place recognition and derivation of vehicle location. In topological map construction and scene change detection, we utilize the Extended-HCT method for semantic description and feature extraction. Content-based and feature-based image retrieval approaches are adopted for place recognition and vehicle localization on the real scene image dataset. The proposed technique is able to construct a real-time image retrieval system for navigation assistance and validate the correctness of the route. Experiments are carried out in both the indoor and outdoor environments using real world images.