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In this paper, we propose a mobile robot localization system in frequent GPS-denied situations. We utilize multiple observations that are obtained from sequential appearance-based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that is combined with positional information has capability to overcome the issue. We apply both of observations derived from GPS and appearance-based place recognition to a mobile robot localization for the sake of achieving robust localization. Moreover sequential appearance-based place recognition makes it possible to recognize their own position even when we navigate a robot at night. Our system uses not only multiple observations but also dead reckoning with gyrodometry model. Our experiments are performed over aggregate 5300 m trajectory approximately that contain a 1600 m outdoor route in different seasons and at different times, and a 500 m short-range route to verify its validity.

Robust Localization in Environmental Variation Using GPS and Sequential Images to Sensor Integration