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http://cimat.repositorioinstitucional.mx/jspui/handle/1008/883| A visual landmark framework for mobile robot navigation | |
| Jean-Bernard Hayet | |
| Acceso Abierto | |
| Atribución-NoComercial-CompartirIgual | |
| Reconocimiento de Objetos | |
| 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. | |
| Elsevier Science | |
| 2007 | |
| Artículo | |
| Inglés | |
| Investigadores | |
| LENGUAJES ALGORÍTMICOS | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Ciencias de la Computación |
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| Fichero | Tamaño | Formato | |
|---|---|---|---|
| JBHayet.pdf | 1.14 MB | Adobe PDF | Visualizar/Abrir |