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 r...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.展开更多
基金supported by a grant from the National High Technology Research and Development Program of China (863 Program)(No.2002AA420110-3)the key project of the State Grid Corporation of China (SGKJ[2007]159)
文摘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.
