Title :
Landmark matching in a varying environment
Author :
Carbonaro, Antonella ; Zingaretti, Primo
Author_Institution :
Ist. di Inf., Ancona Univ., Italy
Abstract :
A system for landmark tracking by a template matching approach is described. Route following based on landmarks may require many models to cover all different situations, so a genetic algorithm learning technique is used to adapt modelling parameters to environmental conditions (lighting, shadows, reflexes, etc.) during the tracking. In addition, the mobile robot self-localisation is obtained by a stereo approach that uses the centres of matching in the two images to solve in a simple way the correspondence analysis in the 3D position estimation. The experimental results show that the tracking robustness is improved when the adaptive template matching is used for landmark tracking
Keywords :
genetic algorithms; image matching; image sequences; learning (artificial intelligence); mobile robots; motion estimation; path planning; robot vision; stereo image processing; 3D position estimation; adaptive template matching; correspondence analysis; environmental conditions; genetic algorithm learning technique; landmark matching; landmark tracking; mobile robot self-localisation; route following; stereo approach; tracking robustness; varying environment; Genetic algorithms; Humans; Image analysis; Mobile robots; Motion analysis; Navigation; Robot sensing systems; Robustness; Transmitters; Uncertainty;
Conference_Titel :
Advanced Mobile Robots, 1997. Proceedings., Second EUROMICRO workshop on
Conference_Location :
Brescia
Print_ISBN :
0-8186-8174-8
DOI :
10.1109/EURBOT.1997.633621
