Title :
A Visual Landmark Recognition System for Autonomous Robot Navigation
Author :
Do, Quoc V. ; Jain, Lakhmi C.
Author_Institution :
Sch. of Electr. & Inf. Eng., Univ. of South Australia, Mawson Lakes, SA
fDate :
Nov. 28 2006-Dec. 1 2006
Abstract :
This paper presents a vision system for autonomously guiding a robot along a known route using a single CCD camera. The prominent feature of the system is the real-time recognition of shape-based visual landmarks in cluttered backgrounds, using a memory feedback modulation (MFM) mechanism, which provides a means for the knowledge from the memory to interact and enhance the earlier stages in the system. Its feasibility in autonomous robot navigation is demonstrated in both indoor and outdoor experiments using a vision-based navigating vehicle.
Keywords :
image recognition; mobile robots; path planning; robot vision; autonomous robot navigation; cluttered backgrounds; memory feedback modulation; shape-based visual landmarks; single CCD camera; visual landmark recognition system; Cameras; Charge coupled devices; Charge-coupled image sensors; Feedback; Machine vision; Magnetic force microscopy; Navigation; Real time systems; Remotely operated vehicles; Robot vision systems;
Conference_Titel :
Computational Intelligence for Modelling, Control and Automation, 2006 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, International Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7695-2731-0
DOI :
10.1109/CIMCA.2006.32
