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Landmark Navigation in Low Illumination Using Omnidirectional Camera

Zahari, Taha and Jessnor Arif, Mat Jizat (2012) Landmark Navigation in Low Illumination Using Omnidirectional Camera. In: The 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2012), 26-28 November 2012 , Daejeon Convention Center (DCC), Daejeon, Korea. . (Unpublished)


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Landmark based vision navigation for mobile robot is critically dependent on successful recognition of landmarks. Landmarks, artificial or natural, are subjected to sufficient illumination in order for a successful recognition. Sufficient illumination is even more critical when the mobile robot is used for indoor. In this paper, experiments were conducted to recognize artificial landmarks using omnidirectional vision under low illumination. The objective of this paper is to demonstrate that landmark navigation in low illumination can be conducted without illumination invariance step and without images distortion correction. This landmark recognition performance thus demonstrates the robustness of landmarks especially under low light condition. The landmarks used were standard (ISO15417) Code-128 barcodes. The barcodes are placed besides turning machine and the illuminance is measured by a luxmeter on each barcode.

Item Type: Conference or Workshop Item (Speech)
Uncontrolled Keywords: Landmark navigation; Omnidirectional vision; Illumination;Mobile robot
Subjects: T Technology > TJ Mechanical engineering and machinery
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 31 Jan 2013 03:41
Last Modified: 22 Jan 2018 02:46
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