Title :
A visual landmark recognition system for topological navigation of mobile robots
Author :
Mata, M. ; Armingol, J.M. ; de la Escalera, A. ; Salichs, M.A.
Author_Institution :
Div. of Syst. Eng. & Autom., Univ. Carlos III de Madrid, Spain
Abstract :
This paper describes a vision-based landmark recognition system for use with mobile robot navigation tasks. A search algorithm based on genetic techniques for pattern recognition in digital images is presented. The developed system allows the topologic localization of a mobile robot using natural and artificial landmarks. Text strings inside landmarks can be read and interpreted, if present. The resulting system was tested onboard a B21 mobile robot and proved useful. The presented experimental results show the effectiveness of the proposed algorithm.
Keywords :
computerised navigation; genetic algorithms; mobile robots; object recognition; robot vision; search problems; topology; digital images; genetic algorithm; mobile robots; pattern recognition; search algorithm; topologic localization; topological navigation; visual landmark recognition; Genetics; Mobile robots; Navigation; Pattern recognition; Robotics and automation; Search engines; System testing; Systems engineering and theory; Uncertainty; Wheels;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932762
