Vision heading navigation based on navigation curve

Abstract

A novel vision method is proposed to correct the robot heading angles in this paper. The salient feature point with known relative position to the target was chosen as the reference point. And the pose adjustment quantities of the robot were determined according to the navigation curve which is composed of the images of the reference point. This algorithm uses only one reference point and has the advantages of simple structure and low computation complexity. Experimental results show that the vision navigation method can eliminate the pose errors effectively, and the applicability and stability of the method are verified.