Geometric reasoning under uncertainty for map-based localization

Map-based navigation in outdoor terrain lacking man-made structures or other highly distinctive landmarks can produce severe localization problems. This paper presents an approach to navigation which implements high level geometric reasoning and matching strategies based on those used by skilled human navigators. This approach, which is demonstrated on a real example involving imagery of mountainous terrain obtained with a video camera and USGS map data, is designed to avoid many of the pitfalls occurring when an attempt is made to navigate by modeling the environment mathematically. It exploits feature attributes which cannot be easily expressed quantitatively but are central to the successful human navigation process.