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1 Systems Science

1 2008

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Vision based line tracking and landmark recognition

Chen R., Sugisaka M.

Systems Science

2008

Vol. 34, no 3

39-43

The purpose of this research is to find an easy and effective method for the vision-based mobile robot navigation in indoor environment. In our case, the line is the floor-line with especial colour, and the landmarks are some shapes with especial colours. The color models of the floor-line and landmarks are built, in which floor-line and landmarks color samples were extracted from sample images of floor-line and landmarks taken under different lighting conditions to make color models more robust. The robot tracks the floor-line by the peak of the floor-line colour probability distributions to move, and the robot's action policy is decided when the landmarks have been seen and recognized; the landmark is recognized by its colour and shape.