We present a solution for the global localization of a mobile robot which disposes of a prior
map and is waked up in an unknown position. This case is known in robotics as the
kidnapped robot problem. The algorithm is based on the adaptation of the 2D SURF
(Speeded Up Robust Features) image features to 3D landmarks of the environment. In this
way the prior map is built, containing only 3D Surf landmarks. When the robot wakes up in
an unknown location the robot starts to search after these landmarks, which are compared to …