A New Method of Extraction of Mobile Robot Navigation Line Based on Edge Detection

摘要

The extraction of ground navigation line is one of the basic technologies of mobile robot visual navigation. Due to the shortcomings of traditional Hough transform and the least square method to extract navigation line, a new method of navigation line extraction based on edge detection is proposed in this paper, which includes three stages: image preprocessing, morphology de-noising and edge detection. First, using monocular camera to collect image of navigation line laid on the ground in advance and preprocesses the collected image, and then using morphology to remove separated points and empties, finally, detects the edge of the processed image, and calculates the slope of navigation line according to the calculated midpoints, then computed the deviated angle of the robot according to the slope and adjusted in real time in order to achieve navigation. Results of experiments show that the method has good feasibility.