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《Optical Technique》 2005-06
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Visual navigation of autonomous mobile robot based on marking-points recognition

DING Hui,FU Meng-yin(Department of Automatic Control,School of Information Science and Technology, Beijing Institute of Technology,Beijing 100081,China)  
A monocular visual navigation of autonomous mobile robot based on recognizing marking-points indoors is presented.Arranging marking-points on the floor in a rule,the images was gathered by monocular camera.It was important to combine the feature prior knowledge with image segmentation methods to process the gathered images and recognized the marking-points.The relatively distance between camera and marking-points was gained by removing the perspective projection effects,thus the depth of scenery was determined.Experimental results show that the algorithm is simple and easy to realize.It is available for suppression of the influences from the uneven lights and noises.
【CateGory Index】: TP242;
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