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1、附录英文原文ScenerecognitionforminerescuerobotlocalizationbasedonvisionAbstract：AnewscenerecognitionsystemwaspresentedbasedonfuzzylogicandhiddenMarkovmodel(HMM)thatcanbeappliedinminerescuerobotlocalizationduringemergencies.Thesystemusesmonocularcameratoacquireomni-directionalimagesofthemineenviron

2、mentwheretherobotlocates.Byadoptingcenter-surrounddifferencemethod,thesalientlocalimageregionsareextractedfromtheimagesasnaturallandmarks.TheselandmarksareorganizedbyusingHMMtorepresentthescenewheretherobotis,andfuzzylogicstrategyisusedtomatchthesceneandlandmark.Bythisway,thelocalizationprob

3、lem,whichisthescenerecognitionprobleminthesystem,canbeconvertedintotheevaluationproblemofHMM.Thecontributionsoftheseskillsmakethesystemhavetheabilitytodealwithchangesinscale,2Drotationandviewpoint.Theresultsofexperimentsalsoprovethatthesystemhashigherratioofrecognitionandlocalizationinbothst

4、aticanddynamicmineenvironments.Keywords:robotlocation;scenerecognition;salientimage;matchingstrategy;fuzzylogic;hiddenMarkovmodel1IntroductionSearchandrescueindisasterareainthedomainofrobotisaburgeoningandchallengingsubject[1].Minerescuerobotwasdevelopedtoenterminesduringemergenciestolocatep

5、ossibleescaperoutesforthosetrappedinsideanddeterminewhetheritissafeforhumantoenterornot.Localizationisafundamentalprobleminthisfield.Localizationmethodsbasedoncameracanbemainlyclassifiedintogeometric,topologicalorhybridones[2].Withitsfeasibilityandeffectiveness,scenerecognitionbecomesoneofth

6、eimportanttechnologiesoftopologicallocalization.Currentlymostscenerecognitionmethodsarebasedonglobalimagefeaturesandhavetwodistinctstages:trainingofflineandmatchingonline.Duringthetrainingstage,robotcollectstheimagesoftheenvironmentwhereitworksandprocessestheimagestoextractglobalfeaturesthat

7、representthescene.Someapproacheswereusedtoanalyzethedata-setofimagedirectlyandsomeprimaryfeatureswerefound,suchasthePCAmethod[3].However,thePCAmethodisnoteffectiveindistinguishingtheclassesoffeatures.Anothertypeofapproachusesappearancefeaturesinclu