Fast Recognition of Self-Similar Landmarks

Daniel Scharstein
Amy J. Briggs


Mobile robot localization and navigation require robust and efficient methods for utilizing perceptual information. In this paper we propose a design for simple visual landmarks that can be unobtrusively added to an environment for navigation without a global geometric map of the workspace. We describe self-similar intensity patterns together with an efficient and reliable algorithm for their detection that can handle a wide range of affine transformations.
A gzip'ed postscript version of this paper is available.

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