Scene Recognition using SIFT Image Features for Mobile Robots

Abstract

This paper presents the scene recognition method using SIFT (Scale Invariant Features Transform) image features descriptor for the purpose of position revision of the mobile robot. The SIFT features descriptor has robustness for scale, rotation, and illumination in the scene image. Therefore, the mobile robot can benefit from such a characteristic in the time/space changing environment. In this proposal, the horizontal shifting distance between two scene images is calculated from the correspondence of SIFT features.