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Natural Landmark Detection for Visually-Guided Robot Navigation

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 4733)


The main difficulty to attain fully autonomous robot navigation outdoors is the fast detection of reliable visual references, and their subsequent characterization as landmarks for immediate and unambiguous recognition. Aimed at speed, our strategy has been to track salient regions along image streams by just performing on-line pixel sampling. Persistent regions are considered good candidates for landmarks, which are then characterized by a set of subregions with given color and normalized shape. They are stored in a database for posterior recognition during the navigation process. Some experimental results showing landmark-based navigation of the legged robot Lauron III in an outdoor setting are provided.


  • Color Space
  • Autonomous Robot
  • Salient Region
  • Input Pixel
  • Landmark Detection

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  • DOI: 10.1007/978-3-540-74782-6_48
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© 2007 Springer-Verlag Berlin Heidelberg

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Celaya, E., Albarral, JL., Jiménez, P., Torras, C. (2007). Natural Landmark Detection for Visually-Guided Robot Navigation. In: Basili, R., Pazienza, M.T. (eds) AI*IA 2007: Artificial Intelligence and Human-Oriented Computing. AI*IA 2007. Lecture Notes in Computer Science(), vol 4733. Springer, Berlin, Heidelberg.

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-74781-9

  • Online ISBN: 978-3-540-74782-6

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