Corridor Navigation and Obstacle Distance Estimation for Monocular Vision Mobile Robots

摘要

To achieve autonomous indoor mobile robot navigation, the robot needs to identify the direction, obstacle position and other information. This paper describes a solution for indoor mobile robot navigation and obstacle distance detection which based on monocular vision. We use Hough transform to find the straight lines in the corridor environment which were used to find the vanishing point as the navigation direction for the mobile robot. At the same time, use the priori knowledge of the corridor environment and the pinhole camera model to calculate the distance of the obstacle. Test results on our robot system show that the algorithm presented in this paper can detect the direction of the corridor and estimate the obstacle distance accuracy. This algorithm is relatively simple with high real-time ability and robustness