A Discriminative Algorithm for Indoor Place Recognition Based on Clustering of Features and Images

• Published in: International journal of automation and computing Vol. 14; no. 4; pp. 407 - 419
• Main Authors: Wang, Ke, Long, Xue-Xiong, Li, Rui-Feng, Zhao, Li-Jun
• Format: Journal Article
• Language: English
• Published: Beijing Institute of Automation, Chinese Academy of Sciences 01.08.2017; Springer Nature B.V
• Subjects: Algorithms; CAE) and Design; Clustering; Computer Applications; Computer-Aided Engineering (CAD; Control; Engineering; Markov chains; Mechatronics; Research Article; Robotics; Service robots; Similarity; 判别算法; 图像聚类; 场所; 基于特征; 室内; 状态转换; 识别速度; 识别问题; Indoor place recognition; locally and globally independent; clustering of features and images (CFI); hidden Markov model; state inertia
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-017-1081-z

In order to solve the problem of indoor place recognition for indoor service robot, a novel algorithm, clustering of features and images （CFI）, is proposed in this work. Different from traditional indoor place recognition methods which are based on kernels or bag of features, with large margin classifier, CFI proposed in this work is based on feature matching, image similarity and clustering of features and images. It establishes independent local feature clusters by feature cloud registration to represent each room, and defines image distance to describe the similarity between images or feature clusters, which determines the label of query images. Besides, it improves recognition speed by image scaling, with state inertia and hidden Markov model constraining the transition of the state to kill unreasonable wrong recognitions and achieves remarkable precision and speed. A series of experiments are conducted to test the algorithm based on standard databases, and it achieves recognition rate up to 97% and speed is over 30 fps, which is much superior to traditional methods. Its impressive precision and speed demonstrate the great discriminative power in the face of complicated environment.