کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
527531 | 869331 | 2007 | 11 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: A visual landmark framework for mobile robot navigation A visual landmark framework for mobile robot navigation](/preview/png/527531.png)
This article describes visual functions dedicated to the extraction and recognition of visual landmarks, here planar quadrangles detected by a single camera. Landmarks are extracted among edge segments through a relaxation scheme, used to apply geometrical, topological and appearance constraints on sets of segments. Once extracted, such a landmark is characterized by invariant attributes so that recognition is made possible from a large range of viewpoints.Landmarks are represented by an icon which is built using the homography between the current viewpoint and a reference shape (a square). When detected again, the landmark is recognized by using a distance between icons. We propose a comparison of several of these metrics and an evaluation on actual and synthetic images that shows the validity of our approach. Results issued from experiments of a mobile robot navigating in an indoor environment are finally presented.
Journal: Image and Vision Computing - Volume 25, Issue 8, 1 August 2007, Pages 1341–1351