Visual landmark recognition for autonomous robot navigation

M. Cicerone; Ettore Stella; Laura Caponetti; Arcangelo Distante

doi:10.1117/12.290286

26 September 1997 Visual landmark recognition for autonomous robot navigation

M. Cicerone, Ettore Stella, Laura Caponetti, Arcangelo Distante

Proceedings Volume 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling; (1997) https://doi.org/10.1117/12.290286
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

Self-location is the capability of a mobile robot to determine its position in the environment referring to absolute landmarks. The possibility to use natural visual landmarks for self-location augments the autonomy and the flexibility of mobile vehicles. In this paper the use of junctions, detected in real images, as landmarks is proposed. The use of visual cues means that problems regarding variations of perspective and scale must be resolved. We propose to formulate the junction recognition as a graph matching problem and resolved using standard methods. Experimental results are shown on real contexts.

Citation Download Citation

M. Cicerone, Ettore Stella, Laura Caponetti, and Arcangelo Distante "Visual landmark recognition for autonomous robot navigation", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); https://doi.org/10.1117/12.290286

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