Indoor mobile robot navigation using doorplate landmarks

An Min Zou, Zeng Guang Hou, Tan Min, Madan M. Gupta, Peter N. Nikiforuk, Noriyasu Homma

Research output: Contribution to journalArticle

Abstract

In the autonomous mobile robot industry, the landmark-based navigation method has been widely used in which landmark recognition plays an important role. The landmark recognition using visual sensors relies heavily on the quality of image segmentation. To localise and navigate the robot using vision information, the camera has to be first calibrated. In this paper, we use the camera to recognise floor and doorplate landmarks. Neural networks are used to calibrate the camera and solve the colour image segmentation problems, respectively, then the doorplate number recognition algorithm is described and the topological map is created by treating the doorplate landmarks as topological nodes.

Original languageEnglish
Pages (from-to)143-155
Number of pages13
JournalInternational Journal of Vehicle Autonomous Systems
Volume4
Issue number2-4
DOIs
Publication statusPublished - 2006

Keywords

  • Camera calibration
  • Colour image segmentation
  • Localisation
  • Mobile robots
  • Neural networks

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Electrical and Electronic Engineering

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