A visual landmark recognition system for topological navigation of mobile robots

Abstract

This paper describes a vision-based landmark recognition system for use with mobile robot navigation tasks. A search algorithm based on genetic techniques for pattern recognition in digital images is presented. The developed system allows the topologic localization of a mobile robot using natural and artificial landmarks. Text strings inside landmarks can be read and interpreted, if present. The resulting system was tested onboard a B21 mobile robot and proved useful. The presented experimental results show the effectiveness of the proposed algorithm.