Trajectory Tracking Based Visual Navigation Method of the Mobile Robot
A trajectory tracking method is presented for the application of the visual navigation of the mobile robot. The robot moves along the line trajectory drawn beforehand, recognize and stop on the stop-sign to finish special task. The robot use a forward looking colorful camera to capture information of the road, and by the use of HSI model partition the trajectory and the stop-sign out. Then use “sampling estimate method 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.
visual navigation trajectory tracking sampling estimate stop-sign
Jiwen Dong Sen YANG Shouyin Lu
School of Information Science and Engineering University of Jinan Jinan 250022, China Shandong Electric Power Research Institute Jinan 250002, China
国际会议
2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)
重庆
英文
1-3
2008-12-11（万方平台首次上网日期，不代表论文的发表时间）