Automatic Extraction of Stable Visual Landmarks for a Mobile Robot under Uncertainty

이동로봇의 불확실성을 고려한 시각 랜드마크의 자동 추출

In this paper, we propose a method to automatically extract stable visual landmarks from observed data for a mobile robot with stereo vision system. The robot selects as stable landmarks vertical line segments which are distinct and on planar surfaces, because they are expected to be observed reliably from various view-points. When the robot moves, it uses several, less uncertain landmarks for estimating its motion. Experimental results in real scenes show the validity of the proposed method.