Corner clustering based detection and recognition of natural landmark for mobile robot

Abstract

Aiming at the detection of the natural landmarks for mobile robot navigation based on vision system in unknown environment, this paper presented a novel method based on corner clustering method to build the invariant model of local feature of unknown natural landmark and recognize it. Firstly, SUSAN operator was used to detect corners in the left and right pictures. Then those corners were matched in the two pictures, so that occluded points could be deleted. Then, corners were clustered according to the corner clustering strategy to build the invariant model of local features of unknown natural landmark. Lastly, the method was given to match the model, and experiments showed that the method was effective to build the invariant model of natural landmark and could also be recognized when viewpoint and scale were changed.