Color-based panoramic representation of outdoor environment for a mobile robot

A color-based panoramic representation is presented of outdoor scenes along routes of a mobile robot. A qualitative description, which is composed of a series of significant visual events called landmarks and their ranges and their ranges of distinctiveness, is generated from it. The mobile robot builds such a map and selects landmarks autonomously in its five moves along a certain route. When the robot is given a command to go along that route, it tries to pursue the memorized route by matching the landmarks with the incoming scenes. Retinex theory is used in matching of scenes in different weather conditions