A solution to Perceptual Aliasing through Probabilistic Fuzzy Logic and SIFT

Control of Mobile Robots is one of the most active fields of research nowadays. A robot must know all the time where it is and where it needs to go. A well known problem of this area is Simultaneous Localization And Mapping (SLAM) where a robot has to map its unknown environment while keeping track of its current position at the same time. While performing SLAM, limited perception capabilities of exteroceptive sensors lead to Perceptual Aliasing where two different locations can appear to be the same to a robot. In this paper, we present a new Fuzzy-Logic based solution to Perceptual Aliasing during the process of robot localization. And in the second approach, we present another solution to this problem using a novel Fuzzified implementation of Scale Invariant Feature Transform (SIFT).