Mobile robot navigation based on visual landmark recognition

M Mata; JM Armingol; A de la Escatera; MA Salichs

doi:10.1016/S1474-6670(17)33134-8

Mobile robot navigation based on visual landmark recognition

M Mata, JM Armingol, A de la Escatera, MA Salichs

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

This paper presents a vision-based landmark recognition system for use in mobile robot navigation tasks. It is able to learn new landmarks with very little human intervention. The recognition system can read text inside landmarks, when present. The system uses genetic algorithms (GA) for both learning and recognition processes. Some of the landmarks learnt has been tested for indoor-outdoor topological navigation. The presented experimental illustrate the success of the proposed algorithm. The resulting localization system has been integrated in a complex navigation system onboard on a B21 mobile robot.

Original language	English
Title of host publication	Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes)
Editors	H. Asama, H. Inoue
Publisher	Elsevier B.V.
Pages	185-190
Number of pages	6
ISBN (Print)	9780080438993
DOIs	https://doi.org/10.1016/S1474-6670(17)33134-8
Publication status	Published - 2002

Publication series

Name	IFAC Proceedings Volumes
Publisher	Elsevier
Number	19
Volume	34
ISSN (Electronic)	1474-6670

Keywords

mobile robots
genetic algorithms
computer vision
landmark-based navigation

Documents and Links

10.1016/S1474-6670(17)33134-8

Fingerprint Dive into the research topics of 'Mobile robot navigation based on visual landmark recognition'. Together they form a unique fingerprint.

Cite this

Mata, M., Armingol, JM., de la Escatera, A., & Salichs, MA. (2002). Mobile robot navigation based on visual landmark recognition. In H. Asama, & H. Inoue (Eds.), Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes) (pp. 185-190). (IFAC Proceedings Volumes; Vol. 34, No. 19). Elsevier B.V.. https://doi.org/10.1016/S1474-6670(17)33134-8

@inbook{13d96873e1aa44899dfadd61abf69e06,

title = "Mobile robot navigation based on visual landmark recognition",

abstract = " This paper presents a vision-based landmark recognition system for use in mobile robot navigation tasks. It is able to learn new landmarks with very little human intervention. The recognition system can read text inside landmarks, when present. The system uses genetic algorithms (GA) for both learning and recognition processes. Some of the landmarks learnt has been tested for indoor-outdoor topological navigation. The presented experimental illustrate the success of the proposed algorithm. The resulting localization system has been integrated in a complex navigation system onboard on a B21 mobile robot.",

keywords = "mobile robots, genetic algorithms, computer vision, landmark-based navigation",

author = "M Mata and JM Armingol and {de la Escatera}, A and MA Salichs",

year = "2002",

doi = "10.1016/S1474-6670(17)33134-8",

language = "English",

isbn = "9780080438993",

series = "IFAC Proceedings Volumes",

publisher = "Elsevier B.V.",

number = "19",

pages = "185--190",

editor = "H. Asama and H. Inoue",

booktitle = "Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes)",

}

Mata, M, Armingol, JM, de la Escatera, A & Salichs, MA 2002, Mobile robot navigation based on visual landmark recognition. in H Asama & H Inoue (eds), Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes). IFAC Proceedings Volumes, no. 19, vol. 34, Elsevier B.V., pp. 185-190. https://doi.org/10.1016/S1474-6670(17)33134-8

Mobile robot navigation based on visual landmark recognition. / Mata, M; Armingol, JM; de la Escatera, A; Salichs, MA.

Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes). ed. / H. Asama; H. Inoue. Elsevier B.V., 2002. p. 185-190 (IFAC Proceedings Volumes; Vol. 34, No. 19).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

TY - CHAP

T1 - Mobile robot navigation based on visual landmark recognition

AU - Mata, M

AU - Armingol, JM

AU - de la Escatera, A

AU - Salichs, MA

PY - 2002

Y1 - 2002

N2 - This paper presents a vision-based landmark recognition system for use in mobile robot navigation tasks. It is able to learn new landmarks with very little human intervention. The recognition system can read text inside landmarks, when present. The system uses genetic algorithms (GA) for both learning and recognition processes. Some of the landmarks learnt has been tested for indoor-outdoor topological navigation. The presented experimental illustrate the success of the proposed algorithm. The resulting localization system has been integrated in a complex navigation system onboard on a B21 mobile robot.

AB - This paper presents a vision-based landmark recognition system for use in mobile robot navigation tasks. It is able to learn new landmarks with very little human intervention. The recognition system can read text inside landmarks, when present. The system uses genetic algorithms (GA) for both learning and recognition processes. Some of the landmarks learnt has been tested for indoor-outdoor topological navigation. The presented experimental illustrate the success of the proposed algorithm. The resulting localization system has been integrated in a complex navigation system onboard on a B21 mobile robot.

KW - mobile robots

KW - genetic algorithms

KW - computer vision

KW - landmark-based navigation

U2 - 10.1016/S1474-6670(17)33134-8

DO - 10.1016/S1474-6670(17)33134-8

M3 - Chapter

SN - 9780080438993

T3 - IFAC Proceedings Volumes

SP - 185

EP - 190

BT - Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes)

A2 - Asama, H.

A2 - Inoue, H.

PB - Elsevier B.V.

ER -

Mata M, Armingol JM, de la Escatera A, Salichs MA. Mobile robot navigation based on visual landmark recognition. In Asama H, Inoue H, editors, Intelligent Autonomous Vehicles 2001: a Proceedings Volume from the 4th IFAC Symposium, Sapporo, Japan, 5-7 September 2001 (IFAC Proceedings Volumes). Elsevier B.V. 2002. p. 185-190. (IFAC Proceedings Volumes; 19). https://doi.org/10.1016/S1474-6670(17)33134-8