The Use of Graph Techniques for Identifying Objects and Scenes in Indoor Building Environments for Mobile Robots

  • Alberto Sanfeliu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3138)


In this paper we present some of the common issues that appear when we try to recognize objects in indoor scenes of a building, and we describe some strategies for recognizing them by using graph techniques. These scene images are captured by the colour cameras of a mobile robot, which in the learning phase, learn the objects by taken a set of 2D images of the projective object views. Then afterwards, the robot must identify the objects once its moves through the area that has been used to learn the objects. We describe two strategies to use graph techniques for object and scene recognition, some algorithms and preliminary results.


Mobile Robot Random Graph Voronoi Diagram Attribute Graph Colour Constancy 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Alberto Sanfeliu
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial (UPC-CSIC)Universitat Politècnica de Catalunya (UPC) 

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