Real-time rotationally invariant features for environmental feature detection by mobile robots and sensor networks

Andre Barczak, Chris Messom, Ravi Chemudugunta

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We introduce a mobile and/ or remote sensor framework for computationally fast rotationally invariant feature detection. The sensor and computational system is small enough to be carried by a mobile robot platform with a relatively low power requirement allowing the system to be deployed without the need for frequent recharges of the batteries. The rotationally invariant Haar-like features are introduced and evaluated both at feature level and in classifiers. Other invariant approaches such as moment based approaches do not offer the same discriminatory power as the Haar-like rotationally invariant features to detect complex objects such as hands and faces.

Original languageEnglish
Title of host publicationROSE 2007 - International Workshop on Robotic and Sensor Environments, Proceedings
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)1424415276, 9781424415274
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007 - Ottawa, ON, Canada
Duration: 12 Oct 200713 Oct 2007


Conference2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007
CityOttawa, ON


  • Fast computation
  • Mobile sensor systems
  • Rotationally invariant features
  • Vision based senor networks

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