Robust Indoor Environment Recognition for Lighting Condition Varieties and Noises -Corridor Recognition Method for Visual Navigation-

Abstract

Recognition of a working environment is critical for a mobile robot to confirm its possible intelligence. Therefore it is necessary to equip a recognition system with some sensor which can get environmental information. As an effective sensor, a CCD camera is generally thought to be useful for all kinds of mobile robots. However, it is thought to be hard to use the CCD camera for visual feedback which requires the system to be robust for lighting condition varieties and noise objects. This research presents a corridor recognition method using gray-scale image and Genetic Algorithm (GA) without any image information conversion which gives the recognition process to be robust for lighting condition and noises. The performance is evaluated using real corridor images.