Topological mapping for mobile robots using a combination of sonar and vision sensing
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
Visual Recognition of Workspace Landmarks for Topological Navigation
Autonomous Robots
Constructing maps for mobile robot navigation based on ultrasonic range data
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper presents a new method for defining and extracting visual landmarks for indoor navigation using a single camera. The approach considers that navigating from point A to point B amounts to navigating to intermediate positions, which are signified by recognition of local landmarks. To avoid the pose problem we seek scene representations that rely on clustered corners of physical objects on corridor walls. These representations are scale and translation independent and allow for the construction of a metric that can match pre-detected landmarks of a learning phase with landmarks extracted from images captured at run-time. The validity of our approach has been verified experimentally.