Title :
Visual landmarks detection and recognition for mobile robot navigation
Author :
Hayet, J.B. ; Lerasle, F. ; Devy, M.
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
This article describes visual functions dedicated to the extraction and recognition of planar quadrangles detected from a single camera. Extraction is based on a relaxation scheme with constraints between image segments, while the characterization we propose allows recognition to be achieved from different view-points and viewing conditions. We defined and evaluated several metrics on this representation space - a correlation-based one and another one based on sets of interest points.
Keywords :
computational geometry; edge detection; feature extraction; image representation; image segmentation; image sensors; mobile robots; path planning; relaxation theory; robot vision; visual perception; camera; image characterization; image representation; image segment constraint; landmark recognition; mobile robot navigation; planar quadrangle extraction; planar quadrangle recognition; relaxation scheme; visual function; visual landmark detection; Cameras; Character recognition; Extraterrestrial measurements; Image recognition; Image segmentation; Matched filters; Mobile robots; Navigation; Robot vision systems; Robustness;
Conference_Titel :
Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on
Print_ISBN :
0-7695-1900-8
DOI :
10.1109/CVPR.2003.1211485
