The use of graph techniques for identifying objects and scenes in indoor building environments for mobile robots

Abstract

In this paper we present some of the common issues that appear when we try to recognize objects in indoor scenes of a building, and we describe some strategies for recognizing them by using graph techniques. These scene images are captured by the colour cameras of a mobile robot, which in the learning phase, learn the objects by taken a set of 2D images of the projective object views. Then afterwards, the robot must identify the objects once its moves through the area that has been used to leam the objects. We describe two strategies to use graph techniques for object and scene recognition, some algorithms and preliminary results. © Springer-Verlag 2004.