This paper presents a fuzzy expert system for range estimation. To develop a robust system, a feature extraction phase is necessary. This task is realized using a new algorithm, called SFP (Symmetry Feature Points Extraction), based on detection of the symmetry points from a digital image. An omnidirectional system is used in order to capture the environment of the robot. In a preprocessing phase, the pictures are converted from cyclic images to panoramic ones in order to apply the SFPs algorithm. Further, these symmetry points are used in the expert fuzzy system that is developed for a range estimation task in a mobile robot application.
Fuzzy Expert System, Omnivision, Symmetry, Range Estimation.
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