Salience detection in time-evolving image sequences
Design and application of hybrid intelligent systems
Natural Landmark Detection for Visually-Guided Robot Navigation
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
Color-contrast landmark detection and encoding in outdoor images
CAIP'05 Proceedings of the 11th international conference on Computer Analysis of Images and Patterns
Robust artificial landmark recognition using polar histograms
EPIA'05 Proceedings of the 12th Portuguese conference on Progress in Artificial Intelligence
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This work presents a landmark detection system for a walking robot, which has to operate in unknown unstructured outdoor environments. Most landmark detection approaches are not adequate for this application, since they rely on either structured information or a priori knowledge about the landmarks. Instead, the proposed system makes use of visual saliency concepts stemming from studies of animal and human perception. Thus, biologically inspired opponent features (in color and orientation) are searched for at different resolution levels. The implementation, however, does not try to mimic nature, but rather to be as computationally efficient as possible. Thus, salient image regions ranging from relatively small to big sizes are detected using multiscale comparison techniques, based on pyramidal filtering. The experimental results obtained show that visual saliency permits detecting reliable natural landmarks without a priori knowledge about their characteristics or location.