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Visual landmark extraction and recognition for autonomous robot navigation

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3 Author(s)
Trahanias, P.E. ; Inst. of Comput. Sci., Found. for Res. & Technol., Crete, Greece ; Velissaris, S. ; Garavelos, T.

The robot navigation using visual landmark approach is described. The landmarks are not preselected or otherwise defined a priori, but rather, they are extracted automatically during a learning phase. To facilitate this, a saliency map is constructed which highlights potential landmarks. This is used in conjunction with a qualitative segregation of the workspace, to further delineate the search areas for environment landmarks. For the sake of robustness, no semantic information is attached to the landmarks; they are stored as raw patterns along with information readily available from the workspace segregation, that facilitates their accurate rate recognition at a later, navigation session. During such a session, similar steps with the learning phase are employed to locate landmarks. The stored information is used to transform a previously leaned landmark pattern, according to the current position of the observer, achieving thus accurate landmark recognition. Results obtained from our approach demonstrate its validity and applicability in indoor workspaces

Published in:

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

7-11 Sep 1997