Algorithm and Improvement for Extracting Multiple Salient Landmarks from Natural Environment
Yueqing Yu · Machine Building & Automation · 2010
When the mobile robot explores in the natural environments with visual sensor,it has to detect the nature objects that are relatively salient in nature environments as landmark.So nature landmark detection is not only the primacy but also most important in unknown environment exploration,because it directly influences the completion of navigation.A visual saliency region detection system blending intensity,color,texture and centre-on-off mechanism is presented in this paper.With the method,the robot can detect several integrity saliency regions by way of clustering method.Some experiments are executed to verify the algorithm in detecting saliency region,picking up several saliency nature landmarks and repeatability including scale,rotation and viewpoint invariance.