Robust Corner Detection by Image-Based Direct Curvature Field Estimation for Mobile Robot Navigation

International Journal of Advanced Robotic Systems

关键词: Corner detection;    intensity-based;    contour-based;    orientation field;    curvature field;   

DOI  :  10.5772/53872

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, a novel corner detection method is presented, to extract geometrically important corners for robot applications, such as indoor mobile robot navigation or manipulation. Intensity-based corner detectors, such as the Harris corner, can detect corners in noisy environments, but have inaccurate corner positions and miss the corners of obtuse angles. Edge-based corner detectors, such as the Curvature Scale Space, can detect structural corners, but show unstable corner detection due to incomplete edge detection in noisy environments. The proposed image-based direct curvature estimation can overcome limitations in both the inaccurate structural corner detection of the Harris corner detector (intensity-based) and the unstable corner detection of the Curvature Scale Space, caused by incomplete edge detection. Various experimental results validate the robustness of the proposed method.

【 授权许可】

CC BY