Real-time recognition of self-similar landmarks

摘要

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 in real-time that can handle a wide range of affine transformations. An implementation of the method is available at www.middlebury.edu/~schar/landmark.