重庆邮电大学学报（自然科学版）2009，Vol.21Issue(2)：158-161,4.
Monocular vision based navigation method of mobile robot
Monocular vision based navigation method of mobile robot
摘要
Abstract
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.关键词
monocular vision/trajectory tracking/stop-signKey words
monocular vision/trajectory tracking/stop-sign分类
信息技术与安全科学引用本文复制引用
DONG Ji-wen,YANG Sen,LU Shou-yin..Monocular vision based navigation method of mobile robot[J].重庆邮电大学学报（自然科学版）,2009,21(2):158-161,4.基金项目
This work was supported by a grant from the National High Technology Research and Development Program of China (863Program)(No.2002AA420110-3) （863Program）
This work was the key project of the State Grid Corporation of China (SGKJ[2007]159). （SGKJ[2007]159）
