A hybrid method for robot navigation based on MR code landmark

摘要

Robot navigation has been a hot topic in the area of mobile robot. A lot of research has been undergone ranging from noble algorithms to applications. Fisheye image has wide angle View and it is easy to obtain the position of the object and keep it in vision within large scale, so it is an important research domain in robot navigation. However it has a disadvantage that the image obtained from fisheye has severe distortions which improve the difficulties in object detection. In this paper we combine the fisheye image and the image of the popular lens for the robot navigation based on the artificial landmark. To improve the speed we still design a continually changing window for the robust landmark tracking. Experiment shows that this hybrid method can recognize and track the landmark robustly and implement robot navigation in room environment effectively.