Title :
The artificial landmark design for mobile robots localization and mapping
Author :
Huletski, Arthur ; Kartashov, Dmitriy ; Krinkin, Kirill
Author_Institution :
Acad. Univ., St. Petersburg, Russia
Abstract :
Nowadays the big challenge in simultaneous localization and mapping (SLAM) of mobile robots is the creation of efficient and robust algorithms. Big amount of SLAM methods use computer vision for extraction of unique environment features from camera images (feature-based approach). In some cases, artificial landmarks are being used to simplify environment markup (landmark-based approach). In this paper we introduce a new QR-like color artificial landmark design and algorithm for fast detecting and tracking them in arbitrary images.
Keywords :
SLAM (robots); cameras; feature extraction; image colour analysis; mobile robots; object detection; object tracking; robot vision; QR-like color artificial landmark design; SLAM methods; artificial landmark image; camera images; computer vision; fast landmark detection; fast landmark tracking; feature-based approach; landmark-based approach; mobile robots; simultaneous localization and mapping; unique environment feature extraction; Cameras; Detection algorithms; Detectors; Image color analysis; Image edge detection; Robots; Robustness;
Conference_Titel :
Open Innovations Association (FRUCT), 2015 17TH Conference of
Conference_Location :
Yaroslavl
DOI :
10.1109/FRUCT.2015.7117971
