A new approach for transfer robot navigation based on natural landmark

This paper describes an approach for transfer robot navigation based on natural landmark. In the approach, we select certain scenes as natural landmarks, then the SIFT Key points used to describe the selected landmarks are saved to database. Robot researches and matches landmark saved in database in run time. When certain landmarks found, the distance and angle to landmark will be acquired based on known position of feature points used to describe landmark. The algorithm of getting the geometric relation between robot and landmark has been described in details in this paper. The experiments show the efficiency of the proposed approach in transfer robot navigation.