A system for landmark tracking by a template matching approach is described. Route following based on landmarks may require many models to cover all different situations, so a genetic algorithm learning technique is used to adapt modelling parameters to environmental conditions (lighting, shadows, reflexes, etc.) during the tracking. In addition, the mobile robot self-localization is obtained by a stereo approach that uses the centres of matching in the two images to solve in a simple way the correspondence analysis in the 3-D position estimation. The experimental results show that the tracking robustness is improved when the adaptive template matching is used for landmark tracking.
Carbonaro Antonella, Zingaretti Primo (1997). Landmark matching in a varying environment. Los Alamitos, CA, United States : IEEE Comp Soc.
Landmark matching in a varying environment
Carbonaro Antonella;
1997
Abstract
A system for landmark tracking by a template matching approach is described. Route following based on landmarks may require many models to cover all different situations, so a genetic algorithm learning technique is used to adapt modelling parameters to environmental conditions (lighting, shadows, reflexes, etc.) during the tracking. In addition, the mobile robot self-localization is obtained by a stereo approach that uses the centres of matching in the two images to solve in a simple way the correspondence analysis in the 3-D position estimation. The experimental results show that the tracking robustness is improved when the adaptive template matching is used for landmark tracking.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
