华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：220-222,231,4.
基于图像视觉伺服的移动机器人自主导航实现
An autonomous navigation procedure for mobile robot on image-based visual servoing
摘要
Abstract
A visual servoing method based on image catching from stereo camera was presented for mobile robot to realize an autonomous navigation procedure. A new high accuracy point matching algorithm based on Harris corner detection and KLT (Kanade Lucas Tomasi) algorithm was described, which optimized the running time of the whole project to some extent. And RANSAC algorithm was used to eliminate inaccuracy feature points, which can get accuraty localization. The experiment proves the presented method correct and effect.关键词
移动机器人/视觉伺服/双目视觉/图像匹配/自主导航Key words
mobile robot/ visual servoing/ stereo vision/ image matching/ autonomous navigation分类
信息技术与安全科学引用本文复制引用
贾林,顾爽,陈启军..基于图像视觉伺服的移动机器人自主导航实现[J].华中科技大学学报（自然科学版）,2011,39(z2):220-222,231,4.基金项目
国家自然科学基金资助项目(60875057). （60875057）
