Unsupervised matching of visual landmarks for robotic homing using Fourier–Mellin transform

Autor:	Alessandro Rizzi, Riccardo Cassinis, Stefano Inelli, Danilo Duina
Rok vydání:	2002
Předmět:	Mellin transform Computer science business.industry General Mathematics Computer Science Applications Fourier mellin transform Control and Systems Engineering Robustness (computer science) Robot Computer vision Artificial intelligence Invariant (mathematics) Visual landmarks business Software
Zdroj:	Robotics and Autonomous Systems. 40:131-138
ISSN:	0921-8890
Popis:	This paper presents an algorithm that uses visual information to achieve the homing of an autonomous agent inside a previously visited environment. An image grabbed at the target position is compared with the currently perceived one to determine the relative position of the robot and of its target. Only particular regions of the image, called Visual References, are taken into account. A Visual References correlation criterion that uses the Fourier–Mellin Transform to match the Visual References in different images is employed. This transform in fact allows computing Visual References that are invariant to rotation, scaling and translation. Robustness due to the use of the Mellin Transform in the Visual References selection and coupling leads to more precise navigation. Tests and results are presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::507c8e94325f6f48ffa9512a8d62a8c8 https://doi.org/10.1016/s0921-8890(02)00238-5 Zobrazit plný text záznamu Full Text from ScienceDirect