Indoor mobile robot navigation using doorplate landmarks
by An-Min Zou, Zeng-Guang Hou, Min Tan, Madan M. Gupta, Peter N. Nikiforuk, Noriyasu Homma
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 4, No. 2/3/4, 2006

Abstract: In the autonomous mobile robot industry, the landmark-based navigation method has been widely used in which landmark recognition plays an important role. The landmark recognition using visual sensors relies heavily on the quality of image segmentation. To localise and navigate the robot using vision information, the camera has to be first calibrated. In this paper, we use the camera to recognise floor and doorplate landmarks. Neural networks are used to calibrate the camera and solve the colour image segmentation problems, respectively, then the doorplate number recognition algorithm is described and the topological map is created by treating the doorplate landmarks as topological nodes.

Online publication date: Sun, 28-Jan-2007

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