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附录英文原文

Scenerecognitionforminerescuerobot

localizationbasedonvision

Abstract：Anewscenerecognitionsystemwaspresentedbasedonfuzzylogicand

hiddenMarkovmodel(HMM)thatcanbeappliedinminerescuerobotlocalization

duringemergencies.Thesystemusesmonocularcameratoacquireomni-directional

imagesofthemineenvironmentwheretherobotlocates.Byadoptingcenter-surround

differencemethod,thesalientlocalimageregionsareextractedfromtheimagesas

naturallandmarks.TheselandmarksareorganizedbyusingHMMtorepresentthe

scenewheretherobotis,andfuzzylogicstrategyisusedtomatchthesceneand

landmark.Bythisway,thelocalizationproblem,whichisthescenerecognition

probleminthesystem,canbeconvertedintotheevaluationproblemofHMM.The

contributionsoftheseskillsmakethesystemhavetheabilitytodealwithchangesin

scale,2Drotationandviewpoint.Theresultsofexperimentsalsoprovethatthe

systemhashigherratioofrecognitionandlocalizationinbothstaticanddynamic

mineenvironments.

Keywords:robotlocation;scenerecognition;salientimage;matchingstrategy;fuzzy

logic;hiddenMarkovmodel

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1Introduction

Searchandrescueindisasterareainthedomainofrobotisaburgeoningand

challengingsubject[1].Minerescuerobotwasdevelopedtoenterminesduring

emergenciestolocatepossibleescaperoutesforthosetrappedinsideanddetermine

whetheritissafeforhumantoenterorn