Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Autonomous Mobile Robot That Can Read ´ Dominic Letourneau | EURASIP Journal on Applied Signal Processing 2004 17 2650-2662 2004 Hindawi Publishing Corporation Autonomous Mobile Robot That Can Read Dominic Letourneau Research Laboratory on Mobile Robotics and Intelligent Systems LABORIUS Department of Electrical Engineering and Computer Engineering University of Sherbrooke Sherbrooke Quebec Canada J1K2R1 Email Francois Michaud Research Laboratory on Mobile Robotics and Intelligent Systems LABORIUS Department of Electrical Engineering and Computer Engineering University of Sherbrooke Sherbrooke Quebec Canada J1K2R1 Email Jean-Marc Valin Research Laboratory on Mobile Robotics and Intelligent Systems LABORIUS Department of Electrical Engineering and Computer Engineering University of Sherbrooke Sherbrooke Quebec Canada J1K2R1 Email Received 18 January 2004 Revised 11 May 2004 Recommended for Publication by Luciano da F. Costa The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple the robot must be capable of acquiring an image of a message to read extract the characters and recognize them as symbols characters and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read potentially having to compensate for its viewpoint of the message and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233
