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Natural landmark detection for visually-guided robot navigation

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10.1007/978-3-540-74782-6_48
 
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hdl:2117/191345

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Celaya Llover, EnricMés informacióMés informació
Albarral Garcia, Jose Luis
Jimenez Schlegl, PabloMés informacióMés informació
Torras, CarmeMés informacióMés informacióMés informació
Document typeConference report
Defense date2007
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
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.
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The final publication is available at link.springer.com
CitationCelaya, E. [et al.]. Natural landmark detection for visually-guided robot navigation. A: Congress of the Italian Association for Artificial Intelligence. "Proceedings of the Congress of the Italian Association for Artificial Intelligence". 2007, p. 555-566. 
URIhttp://hdl.handle.net/2117/191345
DOI10.1007/978-3-540-74782-6_48
Publisher versionhttps://link.springer.com/chapter/10.1007%2F978-3-540-74782-6_48
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  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [463]
  • KRD - Cinemàtica i Disseny de Robots - Ponències/Comunicacions de congressos [25]
  • ROBiri - Grup de Robòtica de l'IRI - Ponències/Comunicacions de congressos [219]
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