%0 Journal Article
%T Monocular vision based navigation method of mobile robot
%A DONG Ji-wen
%A YANG Sen
%A LU Shou-yin
%A
DONG Jiwen
%A YANG Sen
%A LU Shouyin
%J 重庆邮电大学学报(自然科学版)
%D 2009
%I
%X 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.
%K monocular vision
%K trajectory tracking
%K stop-sign
移动机器人
%K 导航方法
%K 单目视觉
%K HSI模型
%K 跟踪方法
%K 视觉导航
%K 数码相机
%K 导航参数
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=01BA20E8BA813E1908F3698710BBFEFEE816345F465FEBA5&cid=96E6E851B5104576C2DD9FC1FBCB69EF&jid=5C2694A2E5629ECD6B59D7B28C6937AD&aid=C7948AD5D21C712EE9F7A6FAE47FDBF0&yid=DE12191FBD62783C&vid=659D3B06EBF534A7&iid=0B39A22176CE99FB&sid=4C100B7696CE9E24&eid=8575BEDA702C4B7C&journal_id=1673-825X&journal_name=重庆邮电大学学报(自然科学版)&referenced_num=0&reference_num=10