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Carnegie Mellon Robotics Institute

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Abstract

Recognizing landmarks is a critical task for mobile robots. Landmarks are used for robot positioning, and for building maps of unknown environments. In this context, the traditional recognition techniques based on strong geometric models cannot be used. Rather, models of landmarks must be built from observations using image-based techniques. This paper addresses the issue of building image-based landmark descriptions from sequences of images and of recognizing those landmarks. Beyond its application to mobile robot navigation, this approach addresses the more general problem of identifying groups of images with common attributes in sequences of images. We show that, with the appropriate domain constraints and image descriptions, this can be done using efficient algorithms.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Project(s): Position Estimation

Text Reference

Yutaka Takeuchi and Martial Hebert, "Finding Images of Landmarks in Video Sequences," Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '98), June, 1998.

BibTeX Reference

@inproceedings{Takeuchi_1998_3133,
   author = "Yutaka Takeuchi and Martial Hebert",
   title = "Finding Images of Landmarks in Video Sequences",
   booktitle = "Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '98)",
   month = "June",
   year = "1998",
}

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