Abstract

This paper presents an approach to the urban scene understanding problem, providing a robust expert system able to take out natural elements such as trees or plants. The system is based on a wide range of natural features associated to seasons, weather, chromatic components, sunshine levels, etc. A particularity of the system is that it is only dealing with pixels, so video-rate processing can be achieved in an easy way, whereas others which deal with regions. Then, the proposed expert system works as a pre-processor and needs, indeed, knowledgement about the environment. Although, pixels candidates could be associated to regions in order to be useful for a further high level processing. In this sense, the system would be applied to a mobile robot in order to use the trees as landmarks for navigation.

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