This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute 3D model and derive describe geometrically 2D map from which descriptor is deduced to constitute core of proposed algorithm. The obtained results show efficiency robustness propounded appearance changes light variations.

the distinction between « appearance » and « reality » goes back to the origins of western philosophy. the greek philosophers almost have considered the appearance as a distortion of the true essence of things and, as such, have strived to establish the reality behind the elusive and ephemeral appearances. the visual arts were condemned by this devaluation of appearances principally in plato’s ...