Change invariant scene recognition by an agent

A method implemented by one or more computer processing devices, the method comprising:

• obtaining images for an agent, the images being captured with a camera;
• grouping the images into situation image sets and storing the situation image sets in an image database;
• querying the image database for first image signatures of the situation image sets and comparing the first image signatures to a second image signature of a navigation image;
• based on the comparing, determining probabilities that individual situation image sets of the situation image sets have individual images that match the navigation image;
• identifying a selected situation image set based on the probabilities;
• identifying one or more matching images in the selected situation image set that match the navigation image;
• and
• providing a navigation location for the agent based on the one or more matching images.

One or more computer readable memory devices or storage devices storing computer readable instructions that, when executed by one or more processing devices, cause the one or more processing devices to perform acts comprising:

• obtaining images for an agent, wherein the images were captured with an image camera using one or more image sensors;
• grouping the images into situation image sets corresponding to locations of a navigation graph and storing the situation image sets in an image database;
• comparing situation image signatures of the situation image sets to one or more navigation image signatures of a navigation image;
• and
• identifying a selected situation image set based on a corresponding probability that the selected situation image set has an individual image that matches the navigation image.