Visual landmarks detection and recognition for mobile robot navigation

Author

Hayet, J.B. ; Lerasle, F. ; Devy, M.

Author_Institution

LAAS-CNRS, Toulouse, France

Volume

2

fYear

2003

Abstract

This article describes visual functions dedicated to the extraction and recognition of planar quadrangles detected from a single camera. Extraction is based on a relaxation scheme with constraints between image segments, while the characterization we propose allows recognition to be achieved from different view-points and viewing conditions. We defined and evaluated several metrics on this representation space - a correlation-based one and another one based on sets of interest points.

Keywords

computational geometry; edge detection; feature extraction; image representation; image segmentation; image sensors; mobile robots; path planning; relaxation theory; robot vision; visual perception; camera; image characterization; image representation; image segment constraint; landmark recognition; mobile robot navigation; planar quadrangle extraction; planar quadrangle recognition; relaxation scheme; visual function; visual landmark detection; Cameras; Character recognition; Extraterrestrial measurements; Image recognition; Image segmentation; Matched filters; Mobile robots; Navigation; Robot vision systems; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on

ISSN

1063-6919

Print_ISBN

0-7695-1900-8

Type

conf

DOI

10.1109/CVPR.2003.1211485

Filename

1211485