Land mark recognition method for mobile robot navigation
AssigneeSony Corporation
InventorJun Tani
Life of this patent
Estimating the term…
Abstract
A land mark recognition apparatus presenting an enhanced learning capability with its neural net. Color image data of a land mark picked up by a television camera is quantized in the space defined by hue and chroma. Specifically, the color image data defined by hue and chroma falls within an area A1, the data is quantized as red data. Similarly, color image data falls within areas A3 and A3, the data is quantized as green and blue data, respectively. The color image data, after being quantized into a small number of data, is stored in the neural net.
Claims9
An object recognition apparatus for recognizing which of a plurality of possible reference objects is a particular reference object, comprising:
- imaging means for imaging the particular reference object to be recognized and outputting color image data corresponding to the particular reference object,
- quantizing means for quantizing individually the color image data of the particular reference object output by the imaging means, as data falling within one of segmented areas of a finite number in a predetermined color space,
- storing and learning means for learning and then storing, on an area-by-area basis, the individually quantized data provided by the quantizing means,
- comparison means for comparing, on an area-by-area basis, the area-by-area quantized data stored individually in the storing and learning means with the area-by-area quantized data provided by the quantizing means, and
- determining means for exclusively determining which of the plurality of possible reference objects is the particular reference object based on the collective comparison result for the areas provided by the comparison means that makes comparisons on an area-by-area basis.
An object recognition method for recognizing which of a plurality of possible reference objects is a particular reference object, comprising the steps of:
- quantizing means for quantizing individually the color image data which is obtained by imaging, the particular reference object to be recognized, as data falling within one of segmented areas of a finite number in a predetermined color space,
- learning and then storing the individually quantized data provided by the quantizing means, on an area-by-area basis,
- comparing, on an area-by-area basis, the area-by-area quantized data stored individually with the area-by-area quantized data obtained through imaging, and
- exclusively determining which of the plurality of possible reference objects is the particular reference object based on the collective comparison result for the areas resulting from the area-by-area basis comparison.
Dependencies are inferred from the claim text.