Fast vision-based object segmentation for natural landmark detection on indoor mobile robot

	Fast vision-based object segmentation for natural landmark detection on indoor mobile robot
	Chai, Xiaojie; Wen, Feng; Yuan, Kui
	2011
会议名称	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
会议录名称	IEEE International Conference on Mechatronics and Automation ( ICMA)
页码	2232-2237
会议日期	2011
会议地点	Beijing, China
摘要	In this paper a new fast vision-based Object Segmentation technique by extracting straight line features from the indoor scenes is proposed. An indoor space scene always contains natural structures like doors, walls, ceilings and floor which have clear straight lines and large homogeneous color surfaces that can be stably detected to form the objects. The objects bounded with lines are very suitable for Indoor Mobile Robot to quickly detect, save as natural landmarks and use in visual SLAM. Compared with the POI (point of interest) features like Harris corner, the line features not only are more robust to changes of scale and illumination, but also can provide more structural information of the indoor environment. This algorithm works in real time and is stable against variation of illumination. The main idea of the method is combining straight lines to form lots of convex polygons. Polygons with homogenous color are kept and adjacent polygons with similar color are merged by a merge test process. A fast line segmentation and fitting method is proposed to improve the line detection efficiency and half edge structure is added to simplify the polygon generation process. Finally experiment results demonstrate the accuracy and robustness of the proposed algorithm in real indoor environments.
关键词	Object Segmentation Visual Slam Natural Landmark Indoor Scenes Mobile Robot
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/5239
专题	智能制造技术与系统研究中心_智能机器人
通讯作者	Chai, Xiaojie
推荐引用方式 GB/T 7714	Chai, Xiaojie,Wen, Feng,Yuan, Kui. Fast vision-based object segmentation for natural landmark detection on indoor mobile robot[C],2011:2232-2237.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Fast vision-based ob（251KB）	会议论文		开放获取	CC BY-NC-SA	浏览下载