The artificial landmark design for mobile robots localization and mapping

Author

Huletski, Arthur ; Kartashov, Dmitriy ; Krinkin, Kirill

Author_Institution

Acad. Univ., St. Petersburg, Russia

fYear

2015

fDate

20-24 April 2015

Firstpage

56

Lastpage

61

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Open Innovations Association (FRUCT), 2015 17TH Conference of

Conference_Location

Yaroslavl

ISSN

2305-7254

Type

conf

DOI

10.1109/FRUCT.2015.7117971

Filename

7117971