Landmark recognition by using fuzzy approach

Abstract

This paper describes the development of a vision system for mobile robot control using a combination of fuzzy logic and image processing techniques, enabling the robot to identify objects such as door, marking circle and recognize the target object. Landmark selected in this study is a door because the door is the common objects in indoor environments and the detection of a door allows a robot to do tasks such as navigation and path planning. This work presents an approach using computer vision which applied Hough Transform and Feature matching technique after the image has been proceeds by Canny edge detector. Features like circular marking, the distance between two vertical lines used by the fuzzy system to analyze whether it has relation with the door being analyzed to design an expert system to detect rectangular shaped door. In this study, vision system is applied to extract the information such as the distance of target and the orientation of target.