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Published in:
2007 | OriginalPaper | Chapter
Natural Landmark Detection for Visually-Guided Robot Navigation
Authors : Enric Celaya, Jose-Luis Albarral, Pablo Jiménez, Carme Torras
Published in: AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
Publisher: Springer Berlin Heidelberg
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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.