<title>Visual landmark recognition for autonomous robot navigation</title>

Abstract

Self-location is the capability of a mobile robot to determine its position in the environment referring to absolute landmarks. The possibility to use natural visual landmarks for self-location augments the autonomy and the flexibility of mobile vehicles. In this paper the use of junctions, detected in real images, as landmarks is proposed. The use of visual cues means that problems regarding variations of perspective and scale must be resolved. We propose to formulate the junction recognition as a graph matching problem and resolved using standard methods. Experimental results are shown on real contexts.