Wang, LeiLi, HongdongHartley, Richard2015-12-132015-12-13August 20-0769525210http://hdl.handle.net/1885/85190Image matching plays an important role in visual mapping, a critical task of vision based mobile robot navigation. Based on the observation that the visual content in these video sequences generally changes in a slow and continuous mode, a concept of "video local pattern" is proposed to model each video frame, which is defined as a set of frames that are visuallysimilar and temporally-adjacent to that frame. Instead of manually labelling, a tracking based method is developed to automatically detect the local pattern for each frame. A model is then estimated from a local pattern, and the matching of images is performed by comparing these models. Experimental results demonstrated its improvement over that comparing individual frames.Keywords: Mobile robot navigation; Video local patterns; Video sequences; Visual mapping; Mathematical models; Mobile robots; Parameter estimation; Pattern recognition; Image matchingVideo Local Pattern based Image Matching for Visual Mapping200610.1109/ICPR.2006.11712015-12-12