Title :
Landmark identification based on projective and permutation invariant vectors
Author :
Colios, Christos I. ; Trahanias, Panos E.
Author_Institution :
Inst. of Comput. Sci., Foundation for Res. Technol., Hellas, Greece
Abstract :
We address the issue of environment representation for navigational tasks by using reference scene patterns, the so-called landmarks, to adequately describe the robot´s workspace. Mathematical tools from projective geometry are employed for landmark identification. A complete framework is presented for landmark extraction and recognition based on projective and point-permutation invariant vectors
Keywords :
image recognition; mobile robots; path planning; robot vision; environment representation; landmark extraction; landmark identification; landmark recognition; navigational tasks; permutation invariant vectors; projective geometry; projective invariant vectors; reference scene patterns; Cognitive robotics; Computational geometry; Computer science; Contracts; Detectors; Indoor environments; Layout; Navigation; Robustness; Virtual colonoscopy;
Conference_Titel :
Pattern Recognition, 2000. Proceedings. 15th International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7695-0750-6
DOI :
10.1109/ICPR.2000.902880
