Natural Landmark Detection for Visually-Guided Robot Navigation

Authors:
Enric Celaya;Jose-Luis Albarral;Pablo Jiménez;Carme Torras
Affiliations:
Institut de Robòtica i Informàtica Industrial (CSIC-UPC). Barcelona, Spain;Institut de Robòtica i Informàtica Industrial (CSIC-UPC). Barcelona, Spain;Institut de Robòtica i Informàtica Industrial (CSIC-UPC). Barcelona, Spain;Institut de Robòtica i Informàtica Industrial (CSIC-UPC). Barcelona, Spain
Venue:
AI*IA '07 Proceedings of the 10th Congress of the Italian Association for Artificial Intelligence on AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
Year:
2007

Citing 7
Cited 0

A Model of Saliency-Based Visual Attention for Rapid Scene Analysis

IEEE Transactions on Pattern Analysis and Machine Intelligence
Vision for Mobile Robot Navigation: A Survey

IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual Navigation in Natural Environments: From Range and Color Data to a Landmark-Based Model

Autonomous Robots
Detection of Natural Landmarks through Multiscale Opponent Features

ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 3
A Multiagent Approach to Qualitative Landmark-Based Navigation

Autonomous Robots
Distinctive Image Features from Scale-Invariant Keypoints

International Journal of Computer Vision
Landmark Selection for Vision-Based Navigation

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

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.