Processing and implementation of visual information for mobile robots

摘要

The video camera and its use for detection of obstacles in the way of a mobile robot were described in detail.With inverse perspective mapping obtained through inverse conversion following the perspective mapping principle of a video camera,the position of an obstacle in the world coordinate system was established by computing the position of an obstacle in an image plane.A control algorithm had been established to gain the depth imformation by using a single camera,which simplifies the robot's vision system.