Visual Recognition of Types of Structural Corridor Landmarks Using Vanishing Points Detection and Hidden Markov Models

In this paper, to provide a robot with information relative to structure of its environment, we propose a method to recognize types of structural corridor landmarks such as T-junction, L-junction, end of the corridor, using vanishing points-based visual image features and hidden Markov models. Several experimental results are illustrated to demonstrate the validity of the proposed approach in a real environment.