1. A method for wide baseline matching, comprising the steps of: receiving a sequence of images wherein consecutive images have an incremental change; generating a training feature descriptor, the training feature descriptor based on the incremental change; creating a map of a scene captured by the sequence of images using the training feature descriptor and position information derived from the sequence of images; receiving a recognition image containing an appearance variation relative to at least a last image from the sequence of images; extracting a recognition feature descriptor from the recognition image; matching the recognition feature descriptor to the training feature descriptor; and determining a position within the map.