Monocular vision based navigation method of mobile robot

A trajectory tracking method is presented for the visual navigation of the monocular mobile robot. The robot move along line trajectory drawn beforehand, recognized and stop on the stopsign to finish special task. The robot uses a forward looking colorful digital camera to capture information in front of the robot, and by the use of HSI model partition the trajectory and the stopsign out. Then the “sampling estimate” method was used to calculate the navigation parameters. The stopsign is easily recognized and can identify 256 different signs. Tests indicate that the method can fit largescale intensity of brightness and has more robustness and better realtime character.     

Monocular vision based navigation method of mobile robot

A trajectory tracking method is presented for the visual navigation of the monocular mobile robot.The robot move along line trajectory drawn beforehand,recognized and stop on the stop-sign to finish special task.The robot uses a forward looking colorful digital camera to capture information in front of the robot,and by the use of HSI model partition the trajectory and the stop-sign out.Then the "sampling estimate" method was used to calculate the navigation parameters.The stop-sign is easily recognized and ...     

基于单目视觉的移动机器人导航方法

针对光照强度大范围变化的室外复杂道路环境下移动机器人视觉导航问题,提出了一种新的基于彩色图像处理的单目机器人导航方法。对于预先设置的引导轨线和停靠位标识,通过HSI模型对图像进行颜色分割和数学形态学处理,提取出导航目标和识别停靠位标识,并用“采样估算”的方法计算导航参数。实验表明此方法获取的导航参数受光照和地面环境的影响不大,且偏离导航线误差较低,具有较好的实时性和鲁棒性。