Detection of Landmarks by Mobile Autonomous Robots Based on Estimating the Color Parameters of the Surrounding Area

Abstract

Remote detection of landmarks for navigation of mobile autonomous robots in the absence of GPS is carried out by low-power radars, ultrasonic and laser rangefinders, night vision devices, and also by video cameras. The aim of the chapter is to develop the method for landmarks detection using the color parameters of images. For this purpose, the optimal system of stochastic differential equations was synthesized according to the criterion of the generalized variance minimum, which allows to estimate the color intensity (red, green, blue) using a priori information and current measurements. The analysis of classical and nonparametric methods of landmark detection, as well as the method of optimal estimation of color parameters jumps is carried out. It is shown that high efficiency of landmark detection is achieved by nonparametric estimating the first Hilbert-Huang modes of decomposition of the color parameters distribution.