D.N. Stepanov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Laboratory, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-05-69, This email address is being protected from spambots. You need JavaScript enabled to view it.
E.Yu. Smirnova
RTC, Head of Department, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-47-10, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.V. Goryunov
RTC, Lead Programmer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-47-64, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The article describes a technique of natural visual landmarks detection for mobile robot cognitive navigation. The proposed landmarks are built by simultaneous filtering and clustering of a saliency map and a point map which can be obtained by a visual SLAM method. As a result the natural landmarks are selected from the scene and described with point clouds and image patches from different points of view. The method significantly improves robot localization robustness and can be used for semantic description of objects in a robot navigation map.
Key words
Mobile robot, cognitive navigation, computer vision, natural landmarks.
Year 2016 Issue number 1 Consecutive issue number 10 Pages 62-66
UDC identifier: 004.93
