Abstract
Landmark tracking is key factor for mobile robots localization and navigation. This paper proposes a combined approach automatically to detect and track landmark. Firstly, a landmark is initially located in the image coordinates by features recognition- SIFT (Scale Invariant Feature Transform) and matching technology-RANSAC(Random Sample Consensus). Then based on similarity distance, tracking algorithm is called, which depends on adaptive particle filter. Furthermore, re-position strategy based SIFT is also presented to catch the landmark which was lost. Finally, the experimental results show that the proposed method achieves robust and real-time tracking of a landmark and has a practical value for robot visual.
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Zhao, L., Li, R., Zang, T., Sun, L., Fan, X. (2008). A Method of Landmark Visual Tracking for Mobile Robot. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_97
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DOI: https://doi.org/10.1007/978-3-540-88513-9_97
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