<title>Real-time landmark detection for the mobile robot PARIDE</title>

摘要

This paper summarizes the research activity on real time landmark tracking being developed at Robotics Laboratory at Pavia University. A visual tracking system for mobile robot PARIDE navigation is described. The purpose of the tracking system is to keep in the field of view "relevant" objects lying in the robot surroundings. The objects to be tracked are those which have some significance that can be used for extracting information about the surrounding environment or about the robot position. In particular the paper focuses on image processing and landmark design. Motion control analysis, algorithms and a general framework description can be found in [6] and [1 1]. Software development has been constrained by real time requirements imposed by the mobile robot kinematics and on environment hypothesis. The algorithm has been tested on PC based platform in order to speed up the development setting and to test different alternatives in short time. Keywords: real time vision, active vision, landmark tracking, mobile robots