Mobile Robot Navigation By Visual Sign Patterns Existing In Outdoor Environment

摘要

This paper presents a new concept, in robot visioii that we call sign pattern. Tlic sign patstern is visual pattern cliaracterizing tlie environnient. and resulting a stereotyped robot action. In other word, the sign pat,terii is a key wliicli activates t,lie robot reactive action. The visioiiguided mobile robot can iiiove on the road by detecting and following the sign patterns. Tlie sign patterns are used in tliree fiiiictioiis of the niobile robot: (1) Following. road boundaries, (2) Controlling t.he caniera posit.ion and (3) Approaching targcts. In this papcr. we describe t.he new concept of the sign pattern and image processing for detecting and tracking the sigii patterns.