Detection of Landmarks by Autonomous Mobile Robots Using Camera-Based Sensors in Outdoor Environments

This paper presents the methods of increasing the probability of landmark detection using the features of the color parameters (coordinates) of the image averaged over each column of the camera matrix pixels. The first method involves selecting a jump (dip) of color parameters distribution and averaging these parameters in the background areas using shifted similar distributions for images obtained by scanning the surrounding space. This possibility occurs if the correlation radius of the color parameters on the image is several times smaller than the horizontal size of the image. The second method uses a color parameter jump on the first modes of the Hilbert-Huang transform in the location of a landmark image.