A Visual Landmark Recognition System for Autonomous Robot Navigation

Author

Do, Quoc V. ; Jain, Lakhmi C.

Author_Institution

Sch. of Electr. & Inf. Eng., Univ. of South Australia, Mawson Lakes, SA

fYear

2006

fDate

Nov. 28 2006-Dec. 1 2006

Firstpage

237

Lastpage

237

Abstract

This paper presents a vision system for autonomously guiding a robot along a known route using a single CCD camera. The prominent feature of the system is the real-time recognition of shape-based visual landmarks in cluttered backgrounds, using a memory feedback modulation (MFM) mechanism, which provides a means for the knowledge from the memory to interact and enhance the earlier stages in the system. Its feasibility in autonomous robot navigation is demonstrated in both indoor and outdoor experiments using a vision-based navigating vehicle.

Keywords

image recognition; mobile robots; path planning; robot vision; autonomous robot navigation; cluttered backgrounds; memory feedback modulation; shape-based visual landmarks; single CCD camera; visual landmark recognition system; Cameras; Charge coupled devices; Charge-coupled image sensors; Feedback; Machine vision; Magnetic force microscopy; Navigation; Real time systems; Remotely operated vehicles; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence for Modelling, Control and Automation, 2006 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, International Conference on

Conference_Location

Sydney, NSW

Print_ISBN

0-7695-2731-0

Type

conf

DOI

10.1109/CIMCA.2006.32

Filename

4052849