Visual navigation method of mobile robot based on indoor lighting
A mobile robot and visual navigation technology, applied in the field of intelligent visual navigation, can solve the problems of system lag, markers are easily blocked, and image processing efficiency is low, and achieve the effect of improving real-time performance and simple image processing algorithm
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[0058] The binocular camera adopts a binocular black-and-white camera. The main parameters are: the lens distance B is 5cm, 25 frames per second; the lens parameters include: the focal length f is 4mm, the specification is 1 / 3inch, the aperture is F1.6, the viewing angle is 70.6 degrees, and the CMOS.
[0059] The left and right cameras are calibrated through the calibration board, and the internal parameters of the binocular camera are obtained as shown in Table 1.
[0060] Table 1. Internal parameters of the binocular camera
[0061]
[0062] Utilize above-mentioned method of the present invention, control the moving position of mobile robot, obtain mobile robot position error less than 3%;
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