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Natural landmark detection for visually-guided robot navigation
dc.contributor.author | Celaya Llover, Enric |
dc.contributor.author | Albarral Garcia, Jose Luis |
dc.contributor.author | Jiménez Schlegl, Pablo |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-06-23T07:45:44Z |
dc.date.available | 2020-06-23T07:45:44Z |
dc.date.issued | 2007 |
dc.identifier.citation | Celaya, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/191345 |
dc.description | The final publication is available at link.springer.com |
dc.description.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. |
dc.format.extent | 12 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.other | Automation |
dc.title | Natural landmark detection for visually-guided robot navigation |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1007/978-3-540-74782-6_48 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007%2F978-3-540-74782-6_48 |
dc.rights.access | Open Access |
local.identifier.drac | 27655885 |
dc.description.version | Postprint (author's final draft) |
local.citation.author | Celaya, E.; Albarral, J.; Jimenez, P.; Torras, C. |
local.citation.contributor | Congress of the Italian Association for Artificial Intelligence |
local.citation.publicationName | Proceedings of the Congress of the Italian Association for Artificial Intelligence |
local.citation.startingPage | 555 |
local.citation.endingPage | 566 |