Vision based navigation system by variable template matching for autonomous mobile robot

We have previously developed a navigation system for autonomous mobile robots. It can find landmarks on the ceiling to move and work. However, it is impossible to recognize landmarks when the size of landmark is different from the size of template. In such cases, the robot cannot continue to work. Therefore we proposed variable template matching (VTM) that makes it possible to recognize landmarks of different sizes. We realize VTM by using the optimization method called the evolution strategy (ES). The robot can recognize the landmark faster, inferring landmark parameters by binary density projection