Automatic Navigation for A Mobile Robot with Monocular Vision

摘要

Monocular vision based navigation method has the merits of simple computation and cheap hardware and is promising to realize real time navigation. A monocular vision based navigation method for a mobile robot moving in unknown environment is presented in the paper. By a special installation of a monocular camera on the top of a mobile robot, the method can realize the obstacle detection, distance measurement and path planning based on one single image, so as to realize automatic navigation of a mobile robot in unknown environment. Experiments on the method were done in real environment and it shows that a mobile robot can move automatically and safely under the guide of its monocular vision system.