Recognition of Smart Objects by a Mobile Robot Using SIFT-Based Image Recognition and Wireless Communication

In this paper, the authors focus on the problem of object location and recognition by an autonomous mobile robot. In their approach, the robot does not have any prior knowledge about the form and multiplicity of the objects. The robot, however, is equipped with an onboard camera and both objects and robot are capable of exchanging data by using a common low-cost, low-rate wireless technology, namely a TmoteSky mote. The small storage memory of the mote is used to store a simple communication protocol and a description of the physical appearance of the object, encoded by means of a set of Scale Invariant Feature Transform (SIFT) descriptors.