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Natural landmark detection for visually-guided robot navigation

AuthorsCelaya, Enric ; Celaya, Enric ; Albarral García, José Luís; Jiménez Schlegl, Pablo ; Torras, Carme
Issue Date2007
CitationArtificial Intelligence and Human-Oriented Computing: 555-566 (2007)
SeriesLecture Notes in Computer Science 4733
AbstractThe 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.
DescriptionPresentado al 10th Congress of the Italian Association for Artificial Intelligence celebrado en 2007 en Roma (Italia).
Publisher version (URL)http://dx.doi.org/10.1007/978-3-540-74782-6_48
Appears in Collections:(IRII) Libros y partes de libros
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