Landmark Recognition for Mobile Robot Navigation using Polar Histograms

P. Suau, R. Rizo, and M. Pujol (Spain)


Object recognition, polar histograms, robot navigation, artificial landmarks.


This work proposes an approach to the problem of locali zation and recognition of artificial landmarks to help in the navigation of a mobile robot using artificial vision. This approach is based on the interpretation of histograms ob tained, in the case of recognition, from polar coordinates of the landmark symbol. This way, the obtained information is lesser sensitive to some shape alterations than another more basic techniques, like geometric or structural techni ques. The experiments prove that the chosen solution ob tains better results than previous works when the database has a considerably high number of landmarks to compare with.

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