Mobile Robot Navigation Using Self-Similar Landmarks
Amy J. Briggs
Daniel Scharstein
Darius Braziunas
Cristian Dima
Peter Wall
Abstract
We propose a new system for vision-based mobile robot navigation
in an unmodeled environment. Simple, unobtrusive artificial
landmarks are used as navigation and localization aids. The
landmark patterns are designed so that they can be reliably detected
in real-time in images taken with the robot's camera
over a wide range of viewing configurations.
The code for the recognition algorithm is publicly available at
http://www.middlebury.edu/~schar/landmark/
A gzip'ed postscript version of this paper
is available.
Back to Amy Briggs' home page