This article describes visual functions dedicated to the extraction and recognition of visual landmarks, here planar quadrangles detected by a single camera. Landmarks are extracted among edge segments through a relaxation scheme, used to apply geometrical, topological and appearance constraints on sets of segments. Once extracted, such a landmark is characterized by invariant attributes so that recognition is made possible from a large range of viewpoints. Landmarks are represented by an icon which is built using the homography between the current viewpoint and a reference shape (a square). When detected again, the landmark is recognized by using a distance between icons. We propose a comparison of several of these metrics and an evaluation on actual and synthetic images that shows the validity of our approach. Results issued from experiments of a mobile robot navigating in an indoor environment are finally presented.


    Access

    Download


    Export, share and cite



    Title :

    A visual landmark framework for mobile robot navigation


    Contributors:

    Publication date :

    2007-01-01


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    A visual landmark framework for mobile robot navigation

    Hayet, J. B. / Lerasle, F. / Devy, M. | British Library Online Contents | 2007


    Landmark-Oriented Visual Navigation of an Autonomous Mobile Robot in Indoor Environments

    Gilg, A. / Schmidt, G. / IFAC | British Library Conference Proceedings | 1993


    Landmark fixed high-precision binocular visual navigation method

    Yang, Z. / Xinlong, W. | British Library Online Contents | 2014


    Natural landmark detection for visually-guided robot navigation

    Celaya, Enric / Albarral García, José Luís / Jiménez Schlegl, Pablo et al. | BASE | 2007

    Free access

    Unidentified landmark navigation

    Bellantoni, J.F. | Engineering Index Backfile | 1967