Landmark recognition for mobile robot navigation using polar histograms

This work proposes an approach to the problem of localization and recounition of artificial landmarks to help in the navioation of a mobile robot using artificial vision. This approach is based on the interpretation of histograms obtained, in the case of recounition, from polar coordinates of the landmark symbol. This way, the obtained information is lesser sensitive to some shape alterations than another more basic techniques, like geometric or structural techniques. The experiments prove that the chosen solution obtains better results than previous works when the database has a considerably high number of landmarks to compare with.