A hull census transform for scene change detection and recognition towards topological map building

This paper presents a novel encoding method for scene change detection and appearance-based topological localization framework. The relation computation over convex hull points is used to compare the similarity between the scenes. It relies on the relative ordering of the feature strength, not directly on the feature vectors. We first deal with multiple convex hulls over the detected features and then compile statistics for coding on the hull points through a vector magnitude comparison. Finally, the hull points are formed by binary codes. The codes are suitable for scene change detection and visual place recognition by statistical analysis. The experimental results show the coding method is robust under the varying environment.