<title>Computer vision system for an autonomous mobile robot</title>

摘要

The purpose of this paper is to compare three methods for 3- D measurements of line position used for the vision guidance to navigate an autonomous mobile robot. A model is first developed to map 3-D ground points into image points to be developed using homogeneous coordinates. Then using the ground plane constraint, the inverse transformation that maps image points into 3-D ground points is determined. And then the system identification problem is solved using a calibration device. Calibration data is used to determine the model parameters by minimizing the mean square error between model and calibration points. A novel simplification is then presented which provides surprisingly accurate results. This method is called the magic matrix approach and uses only the calibration data. A more standard variation of this approach is also considered. The significance of this work is that it shows that three methods that are based on 3-D measurements may be used for mobile robot navigation and that a simple method can achieve accuracy to a fraction of an inch which is sufficient in some applications.