Qualitative route scene description using autonomous landmark detection

This paper introduces an approach to build a qualitative description of scenes along a route, which is used in route recognition by a mobile robot. The description consists of a series of landmarks autonomously selected by the robot from a panoramic view, which has been generated as a visual memory of scenes along routes. The basic idea to bridge the quantitative panoramic view to qualitative landmarks is to examine the 'distinctiveness' of patterns in the image and select landmarks from unique patterns that are remarkably by which to navigate.<<ETX>>

[1]  M D'Zmura,et al.  Mechanisms of color constancy. , 1986, Journal of the Optical Society of America. A, Optics and image science.

[2]  Susan Hackwood,et al.  Attentive sensing strategy for a multiwindow vision architecture , 1990, Other Conferences.

[3]  Saburo Tsuji,et al.  From anorthoscope perception to dynamic vision , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[4]  Jing Wang,et al.  Connectivity analysis of multi-dimensional multi-valued images , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5]  G. Cohen.  Memory In The Real World , 1989 .

[6]  Matthew James Barth.  Robotic attentive sensing and its application to integrated circuit wafer inspection , 1991 .

[7]  鄭 絳字.  Dynamic Projection Panoramic Representation and Route Recognition , 1990 .

[8]  Minoru Asada,et al.  Color-based panoramic representation of outdoor environment for a mobile robot , 1988, [1988 Proceedings] 9th International Conference on Pattern Recognition.

[9]  Tod S. Levitt,et al.  Terrain models for an autonomous land vehicle , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[10]  Saburo Tsuji,et al.  Panoramic representation of scenes for route understanding , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.