Indoor Global Localization Using Depth-Guided Photometric Edge Descriptor for Mobile Robot Navigation

Howon Cheong, Euntai Kim, Sung Kee Park

Research output: Contribution to journalArticle


This paper suggests a new landmark descriptor for indoor mobile robot navigation with sensor fusion and a global localization method using it. In previous research on robot pose estimation, various landmarks such as geometric features, visual local-invariant features, or objects are utilized. However, in real-world situations, there is a possibility that distinctive landmarks are insufficient or there are many similar landmarks repeated in indoor environment, which makes accurate pose estimation difficult. In this work, we suggest a new landmark descriptor, called depth-guided photometric edge descriptor (DPED), which is composed of superpixels and approximated 3D depth information of photometric vertical edge. With this descriptor, we propose a global localization method based on coarse-to-fine strategy. In the coarse step, candidate nodes are found by place recognition using our pairwise constraint-based spectral matching technique, and the robot pose is estimated with a probabilistic scan matching in the fine step. The experimental results show that our method successfully estimates the robot pose in the real-world tests even when there is a lack of distinctive features and objects.

Original languageEnglish
Article number8782605
Pages (from-to)10837-10847
Number of pages11
JournalIEEE Sensors Journal
Issue number22
Publication statusPublished - 2019 Nov 15

All Science Journal Classification (ASJC) codes

  • Instrumentation
  • Electrical and Electronic Engineering

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