A color interest operator for landmark-based navigation

Authors:
Zachary Dodds;Gregory D. Hager
Affiliations:
Department of Computer Science, Yale Univ., New Haven, CT;Department of Computer Science, Yale Univ., New Haven, CT
Venue:
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Year:
1997

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Abstract

Landmark-based approaches to robot navigation require an "interest operator" to estimate the utility of a particular image region as an effective representative for a scene. This paper presents a color interest operator consisting of a weighted combination of heuristic scores. The operator selects those image regions (landmarks) likely to be found again, even under a different viewing geometry and/or different illumination conditions. These salient regions yield a robust representation for recognition of a scene. Experiments showing the reproduceability of the regions selected by this operator demonstrate its use as a hedge against environmental uncertainties.