Abstract
In this article we present a multisensor system for visual landmarks detection in indoor autonomous robot navigation context. This smart sensor combines a CCD camera with a 3D laser camera. The landmarks detection is based on the collaboration between intensity image processing which ensures the planar quadrangle landmarks detection itself and ad hoc 3D laser camera which copes with the specific constraints of our problematic. The process consists in grouping horizontally/vertically oriented segments extracted from the intensity image. The constraints are applied thanks to a relaration scheme. The next step consists in confirming or rejecting the detected quad-rangles regarding their planarity by focusing the 3D laser camera in the environment area defined by these visual targets.
| Original language | English |
|---|---|
| Book series | Proceedings - International Conference on Pattern Recognition |
| Volume | 16 |
| Issue number | 2 |
| Pages (from-to) | 848-851 |
| Number of pages | 4 |
| ISSN | 1051-4651 |
| Publication status | Published - 2002 |
Keywords
- Landmarks detection
- Relaration
- Smart sensing
- Visual navigation