Mobile robot visual locating method and its realization

The method for visual locating is researched for mobile robot. The target centroid sequence is obtained from the vision localization and target tracking system. The limitation of the second focus method for acquiring the depth of the object is analyzed and a method for acquiring space position and motion parameters of moving objects is proposed. HIS model is used in the target acquirement. According to the image sequence and the extended Kalman filter algorithm, the space position and motion parameters of moving target are obtained. Simulation results demonstrate that the method is effective and recommendable.