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Definition and Extraction of Visual Landmarks for Indoor Robot Navigation

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Book cover Methods and Applications of Artificial Intelligence (SETN 2002)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2308))

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Abstract

This paper presents a new method for defining and extracting visual landmarks for indoor navigation using a single camera. The approach considers that navigating from point A to point B amounts to navigating to intermediate positions, which are signified by recognition of local landmarks. To avoid the pose problem we seek scene representations that rely on clustered corners of physical objects on corridor walls. These representations are scale and translation independent and allow for the construction of a metric that can match pre-detected landmarks of a learning phase with landmarks extracted from images captured at run-time. The validity of our approach has been verified experimentally.

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Author information

Authors and Affiliations

  1. National Centre for Scientific Research “Demokritos”, Institute of Informatics and Telecommunications, 15310, Paraskevi, Greece

    Dimitrios I. Kosmopoulos & Konstantinos V. Chandrinos

Authors
  1. Dimitrios I. Kosmopoulos
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  2. Konstantinos V. Chandrinos
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Editor information

Editors and Affiliations

  1. Dept. of Informatics, Aristotle University of Thessaloniki, 54006, Thessaloniki, Greece

    Ioannis P. Vlahavas

  2. N.C.S.R. “Demokritos”, Inst. of Informatics & Telecommunications Software and Knowledge Engineering Lab, 15310, Aghia Paraskevi, Greece

    Constantine D. Spyropoulos

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© 2002 Springer-Verlag Berlin Heidelberg

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Kosmopoulos, D.I., Chandrinos, K.V. (2002). Definition and Extraction of Visual Landmarks for Indoor Robot Navigation. In: Vlahavas, I.P., Spyropoulos, C.D. (eds) Methods and Applications of Artificial Intelligence. SETN 2002. Lecture Notes in Computer Science(), vol 2308. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46014-4_36

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  • DOI: https://doi.org/10.1007/3-540-46014-4_36

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43472-6

  • Online ISBN: 978-3-540-46014-5

  • eBook Packages: Springer Book Archive

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