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Proceedings Paper

Visual landmark recognition for autonomous robot navigation
Author(s): M. Cicerone; Ettore Stella; Laura Caponetti; Arcangelo Distante
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Paper 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.

Paper Details

Date Published: 26 September 1997
PDF: 7 pages
Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); doi: 10.1117/12.290286
Show Author Affiliations
M. Cicerone, Istituto Elaborazione Segnali ed Immagini (Italy)
Ettore Stella, Istituto Elaborazione Segnali ed Immagini (Italy)
Laura Caponetti, Univ. di Bari (Italy)
Arcangelo Distante, Istituto Elaborazione Segnali ed Immagini (Italy)


Published in SPIE Proceedings Vol. 3208:
Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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