A method for recognition and localization of generic objects forindoor navigation
Dongsung Kim
Nevatia, R.
Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA;
This paper appears in: Applications of Computer Vision, 1994., Proceedings of the Second IEEE Workshop on
Publication Date: 5-7 Dec 1994
On page(s): 280-288
Meeting Date: 12/05/1994 - 12/07/1994
Location: Sarasota, FL, USA
ISBN: 0-8186-6410-X
References Cited: 11
INSPEC Accession Number: 4852589
Digital Object Identifier: 10.1109/ACV.1994.341322
Current Version Published: 2002-08-06
Abstract
We introduce an efficient method for recognition and localization
of generic objects for robot navigation, which works on real scenes. The
generic objects used in our experiments are desks and doors as they are
suitable landmarks for navigation. The recognition method uses
significant surfaces and accompanying functional evidence for
recognition of such objects. Currently, our system works with planar
surfaces only and assumes that the objects are in a
“standard” pose. The localization and orientation of an
object are represented with the most significant surface in an
“s-map”. Some results for laboratory scenes are given
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