Landmark recognition using invariant features

The paper deals with a view-invariant recognition of circular landmarks used for mobile robot navigation. The recognition model based on the aAne moment invariants (AMIs) is introduced. The recognition ability of the AMIs regarding this particular landmark shape is investigated in the presence of additive random noise and/or in the case of various viewing angles. The results of the experiments in real situations, which proved the discriminability and the stability of the recognition model, are shown. ” 1999 Elsevier Science B.V. All rights reserved.

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