Indoor mobile robot navigation using doorplate landmarks

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

doi:10.1504/ijvas.2006.012204

Indoor mobile robot navigation using doorplate landmarks

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

MED - Health Sciences

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	143-155
Number of pages	13
Journal	International Journal of Vehicle Autonomous Systems
Volume	4
Issue number	2-4
DOIs	https://doi.org/10.1504/ijvas.2006.012204
Publication status	Published - 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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10.1504/ijvas.2006.012204

Cite this

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title = "Indoor mobile robot navigation using doorplate landmarks",

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.",

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AU - Zou, An Min

AU - Hou, Zeng Guang

AU - Min, Tan

AU - Gupta, Madan M.

AU - Nikiforuk, Peter N.

AU - Homma, Noriyasu

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - Camera calibration

KW - Colour image segmentation

KW - Localisation

KW - Mobile robots

KW - Neural networks

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JO - International Journal of Vehicle Autonomous Systems

JF - International Journal of Vehicle Autonomous Systems

SN - 1471-0226

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ER -

Indoor mobile robot navigation using doorplate landmarks

Abstract

Keywords

ASJC Scopus subject areas

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