Road label recognition for navigation of outdoor autonomous mobile robot
Kezhong He · Journal of Tsinghua University(Science and Technology) · 1998
The approach to the recognition of road labels is one of the key technology in vision based navigation of outdoor intelligent mobile robots. This article discusses a fast algorithm for recognition of three kinds of traffic road labels on highway. A road label is captured from an image and then classified by a four step process which is composed of goal search, “first time growth”, automatic threshold selection and “second time growth”. In the design of frame analysis based classifier, the standard of “shortest grid range” is used to find out straight line. The pattern recognition is realized by the backward frame key point matching. The algorithm is simple and near real time. It has been applied to the real time navigation of THMR Ⅲ (Tsinghua mobile robot model Ⅲ) successfully on the campus roads, which has demonstrated good performances such as on robust and real time.