Landmark Recognition System for Mini Rotor Aerial Robot

Landmark recognition system is a very important part of mini rotor aerial robot. It recognizes landmarks, and supplies the navigation computer with location information of it. However, mini rotor aerial robots have low pay-load and are small in size. This means that the sensor like radar not fit in with this application and the small size and low power cost cameras may be the only sensors can be used. In this paper we focus on a landmark recognition system which uses an onboard camera as the sensor. Meanwhile, this paper presents an approach that is applied to real-time recognizing of landmark in video stream. This problem poses several challenges. Landmark in images captured from video stream by moving mini rotor robot vary in shape, size, scale and orientation. Unlike other approaches, this approach is based on classification algorithms. An extended set of Haar-like features is used, due to their simplicity. Landmarks are divided into several viewpoint categories according to their poses and each of these categories is processed by a cascade classifier which is trained by the Adaboosting algorithm. In the end, the experimental results verify the effectiveness of the system