Transactions of Nonferrous Metals Society of China The Chinese Journal of Nonferrous Metals

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中国有色金属学报(英文版)

Transactions of Nonferrous Metals Society of China

Vol. 18    No. 2    April 2008

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Scene recognition for mine rescue robot localization based on vision
CUI Yi-an(崔益安)1, 2, CAI Zi-xing(蔡自兴)1, WANG Lu(王 璐)1

1. School of Information Science and Engineering, Central South University, Changsha 410083, China;2. School of Info-Physics Engineering, Central South University, Changsha 410083, China

Abstract:A new scene recognition system was presented based on fuzzy logic and hidden Markov model(HMM) that can be applied in mine rescue robot localization during emergencies. The system uses monocular camera to acquire omni-directional images of the mine environment where the robot locates. By adopting center-surround difference method, the salient local image regions are extracted from the images as natural landmarks. These landmarks are organized by using HMM to represent the scene where the robot is, and fuzzy logic strategy is used to match the scene and landmark. By this way, the localization problem, which is the scene recognition problem in the system, can be converted into the evaluation problem of HMM. The contributions of these skills make the system have the ability to deal with changes in scale, 2D rotation and viewpoint. The results of experiments also prove that the system has higher ratio of recognition and localization in both static and dynamic mine environments.

 

Key words: robot location; scene recognition; salient image; matching strategy; fuzzy logic; hidden Markov model

ISSN 1004-0609
CN 43-1238/TG
CODEN: ZYJXFK

ISSN 1003-6326
CN 43-1239/TG
CODEN: TNMCEW

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