A visual landmark framework for mobile robot navigation

dc.creatorJean-Bernard Hayet
dc.date2007
dc.date.accessioned2023-07-21T15:46:33Z
dc.date.available2023-07-21T15:46:33Z
dc.identifierhttp://cimat.repositorioinstitucional.mx/jspui/handle/1008/883
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7729424
dc.descriptionThis article describes visual functions dedicated to the extraction and recognition of visual landmarks, here planar quadrangles detected by a single camera. Landmarks are extracted among edge segments through a relaxation scheme, used to apply geometrical, topological and appearance constraints on sets of segments. Once extracted, such a landmark is characterized by invariant attributes so that recognition is made possible from a large range of viewpoints. Landmarks are represented by an icon which is built using the homography between the current viewpoint and a reference shape (a square). When detected again, the landmark is recognized by using a distance between icons. We propose a comparison of several of these metrics and an evaluation on actual and synthetic images that shows the validity of our approach. Results issued from experiments of a mobile robot navigating in an indoor environment are finally presented.
dc.formatapplication/pdf
dc.languageeng
dc.publisherElsevier Science
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://creativecommons.org/licenses/by-nc-sa/4.0
dc.subjectinfo:eu-repo/classification/MSC/Reconocimiento de Objetos
dc.subjectinfo:eu-repo/classification/cti/1
dc.subjectinfo:eu-repo/classification/cti/12
dc.subjectinfo:eu-repo/classification/cti/1203
dc.subjectinfo:eu-repo/classification/cti/120302
dc.subjectinfo:eu-repo/classification/cti/120302
dc.titleA visual landmark framework for mobile robot navigation
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion
dc.audienceresearchers


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