26 September 1997 Visual landmark recognition for autonomous robot navigation
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Abstract
Self-location is the capability of a mobile robot to determine its position in the environment referring to absolute landmarks. The possibility to use natural visual landmarks for self-location augments the autonomy and the flexibility of mobile vehicles. In this paper the use of junctions, detected in real images, as landmarks is proposed. The use of visual cues means that problems regarding variations of perspective and scale must be resolved. We propose to formulate the junction recognition as a graph matching problem and resolved using standard methods. Experimental results are shown on real contexts.
© (1997) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
M. Cicerone, M. Cicerone, Ettore Stella, Ettore Stella, Laura Caponetti, Laura Caponetti, Arcangelo Distante, Arcangelo Distante, "Visual landmark recognition for autonomous robot navigation", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); doi: 10.1117/12.290286; https://doi.org/10.1117/12.290286
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