Presentado al 10th Congress of the Italian Association for Artificial Intelligence celebrado en 2007 en Roma (Italia). ; The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. Aimed at speed, our strategy has been to track salient regions along image streams by just performing on-line pixel sampling. Persistent regions are considered good candidates for landmarks, which are then characterized by a set of subregions with given color and normalized shape. They are stored in a database for posterior recognition during the navigation process. Some experimental results showing landmark-based navigation of the legged robot Lauron III in an outdoor setting are provided. ; This work was supported by the project 'Sistema reconfigurable para la navegación basada en visión de robots caminantes y rodantes en entornos naturales.' (00). ; This work has been supported by the Spanish Ministerio de Ciencia y Tecnología and FEDER under the project SIRVENT (DPI2003-05193-C02-01). ; Peer Reviewed
Natural landmark detection for visually-guided robot navigation
2007-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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