Real-time recognition of self-similar landmarks

被引：36

作者：

Scharstein, D ^{[1
]}

Briggs, AJ ^{[1
]}

机构：

[1] Middlebury Coll, Dept Math & Comp Sci, Middlebury, VT 05753 USA

来源：

IMAGE AND VISION COMPUTING | 2001年 / 19卷 / 11期

基金：

美国国家科学基金会;

关键词：

vision-based mobile robotics; pattern recognition; artificial landmarks; landmark design; real-time detection; sensor-based navigation;

D O I：

10.1016/S0262-8856(00)00105-0

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Mobile robot localization and navigation require robust and efficient methods for utilizing perceptual information. In this paper we propose a design for simple visual landmarks that can be unobtrusively added to an environment for navigation without a global geometric map of the workspace. We describe self-similar intensity patterns together with an efficient and reliable algorithm for their detection in real-time that can handle a wide range of affine transformations. An implementation of the method is available at www.middlebury.edu/-schar/landmark. (C) 2001 Elsevier Science B.V. All rights reserved.

引用

页码：763 / 772

页数：10

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