Robust and accurate detection of object orientation and ID without color segmentation

Abstract

This paper describes a novel approach to detecting orientar tion and identity of robots without color segmentation. The continuous DP matching calculates the similarity between the reference pattern and the input pattern by matching the intensity changes of the robot markers, After the continuous DP matching, a similarity value is used for object identification. Correspondences of the optimal route obtained by back tracing are used for estimating the robot's orientation. This method archives orientation estimations of less than 1 degree and robustness with respect to varying light conditions. © Springer-Verlag Berlin Heidelberg 2006.