A Color Interest Operator for Landmark-Based Navigation

Zachary Dodds, Gregory D. Hager

Landmark-based approaches to robot navigation require an "interest operator" to estimate the utility of a particular image region as an effective representative for a scene. This paper presents a color interest operator consisting of a weighted combination of heuristic scores. The operator selects those image regions (landmarks) likely to be found again, even under a different viewing geometry and/or diRerent illumination conditions. These salient regions yield a robust representation for recognition of a scene. Experiments showing the reproduceability of the regions selected by this operator demonstrate its use as a hedge against environment al uncertainties.


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