Indoor Visual Navigation Based on Parallels

According to the stability of vanishing points of the projected lines on the image of a group of lines at infinity,the algorithms for camera calibration and indoor visual navigation of the autonomous mobile platform based on parallels are proposed.A simplified linear camera model with respect to the navigation angle and distance along Axis X of the autonomous mobile platform is established for camera calibration.Meanwhile,the gradient and coordinates of vanishing points of the projected lines on image of two baselines of the laboratory corridor are used to calibrate the inner and outer parameters of the camera model.During mobile platform visual navigation,the two baselines are viewed as the parallels,and the coordinates of vanishing points of the baselines on the image are adopted to adjust the X direction distance and course angle,as well as the gradient of baselines on the image.The color images of the corridor are segmented by model YIQ,and its baselines are detected by the combination of Hough transform and least-square method.