Mobile robot indoor navigation using laserrange finder and monocular vision

摘要

The intention of this paper is to introduce our research in mobile robot indoor navigation using laser range finder and monocular vision. The basic model and control law in our platform are introduced firstly. The extended methods of angle histograms and weighted Hough transform are demonstrated through practical application and experiments. Some methods and algorithms in image processing are also illustrated and used in our work. A series of experiment results and further analysis are also given in this paper.