英文文献-基于视觉的场景识别为煤矿救灾机器人定位.pdf

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

Received 18 April 2007; accepted 13 September 2007


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 anized 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.