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A visual landmark framework for mobile robot navigation
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DOI：10.1016/j.imavis.2006.08.006.png)
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摘要
En 中文
This 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. (c) 2006 Elsevier B.V. All rights reserved.
Keyword:
visual landmarks
visual navigation
object recognition
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