Visual Landmarks Detection and Recognition for Mobile Robot Navigation

Jean-Bernard Hayet, Frédéric Lerasle, Michel Devy

Abstract: This article describes visual functions dedicated to the extraction and recognition of planar quadrangles detected from a single camera. Extraction is based on a relaxation scheme with constraints between image segments, while the characterization we propose allows recognition to be achieved from different view-points and viewing conditions. We defined and evaluated several metrics on this representation space - a correlation-based one and another one based on sets of interest points.