Abstract
To develop a practical indoor mobile robot system, invisible marks made of photochromic material are provided to the floor of an indoor environment. Invisible mark is usually colorless and transparent: however, once irradiated by ultraviolet rays from the robot side, it turns red (or green). Therefore, the mark is easily extracted from the difference image before and after the ultraviolet ray irradiation. By using these floor marks, the area where object exists can be easily extracted, by detecting the occluded marks. In the following image processing, this area can be used for template matching based on feature such as SIFT, finally the kind of object can be recognized.
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