[1]CAI Zi-xing,WANG Yong,WANG Lu.Corner clustering based detection and recognition of natural landmark for mobile robot[J].CAAI Transactions on Intelligent Systems,2006,1(1):52-56.
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Corner clustering based detection and recognition of natural landmark for mobile robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 1 Number of periods: 2006 1 Page number: 52-56 Column: 学术论文—机器感知与模式识别 Public date: 2006-03-25
Title:
Corner clustering based detection and recognition of natural landmark for mobile robot
Author(s):
CAI Zi-xing;  WANG Yong;  WANG Lu
School of Information Science and Engineering, Central South University, Changsha 410083,China
Keywords:
unknown environment;  mobile robot;  corner cluste ring;  stereo vision;  local feature;  matching algorithm
CLC:
TP242.6+2
DOI:
-
Abstract:
Aiming at the detection of the natural landmarks for mobile robot nav igation based on vision system in unknown environment, this paper presented a no v el method based on corner clustering method to build the invariant model of loca l feature of unknown natural landmark and recognize it. Firstly, SUSAN operator was used to detect corners in the left and right pictures. Then those corners we re matched in the two pictures, so that occluded points could be deleted. Then, cor ners were clustered according to the corner clustering strategy to build the inv a riant model of local features of unknown natural landmark. Lastly, the method wa s given to match the model, and experiments showed that the method was effective to build the invariant model of natural landmark and could also be recognized when viewpoint and scale were changed.
References:
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