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  • Research Article
  • Open Access

Curvilinear Image Regions Detection: Applications to Mobile Robotics

  • 1Email author,
  • 2,
  • 2 and
  • 3
EURASIP Journal on Advances in Signal Processing20102011:145232

  • Received: 15 June 2010
  • Accepted: 19 October 2010
  • Published:


This paper proposes a novel approach for visual features detection, which is based on the presence of objects whose shape can be modelled using cylinders or generalized cylinders. These specific structures are commonly found on indoor and outdoor scenarios, and their image representations, the so-called curvilinear regions, automatically deform with changing viewpoint as to keep on covering identical physical parts of a scene. The method is based on Marr's visual theory that proposes that visual objects can be decomposed in generalized cylinders. Also, part of the method can be compared to the behavior of AOS neurons, placed in the caudal intraparietal sulcus, that respond when an elongated object is visualized. Our detector reliably finds the same curvilinear regions under different viewing conditions. Evaluation results are given to demonstrate the performance of the approach and its ability to be applied for visual features detection in a mobile robot navigation framework.


  • Mobile Robot
  • Quantum Information
  • Visual Theory
  • Image Region
  • Visual Object

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Authors’ Affiliations

Departamento de Ingeniería Telecomunicación, Universidad de Jaén, 23700 Linares, Spain
Grupo ISIS, Departamento de Tecnología Electrónica, Universidad de Málaga, 29071 Málaga, Spain
Centro Andaluz Innovación y Tecnología de Información y Comunicaciones (CITIC), 29590 Málaga, Spain


© J. M. Perez-Lorenzo et al. 2011

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.