Micro Robot Vision Civil Aviation Road Detection And Tracking Algorithm

Tracked Land Mobile Robot is an intelligent mobile system, which can move autonomously and continuously on road or cross-country.In the research of Mobile Robot, navigation is one of the kernel approaches, which realizes real intelligence and moving autonomously completely. Vision-based navigation System should detect the running environment and locate the boundary of the road in real-time so as to guarantee the mobile robot to drive autonomously, steadily and safely without manual operation.Road detecting and tracking for visual navigation of micro robot is studied in the dissertation, of which image inpainting, color road image segmentation , road detecting and tracking are important and difficult processes. For damaged road images caused of backlighting, referring to and simplifying the image inpainting method based on RBF and the image interpolation method based on curve-surface evolution, an image inpainting algorithm based on curve fitting is used to restore white light regions caused of backlighting and produces better results. For color road images with disordered marble blocks in complex and varied environment, an improved region growing method using multiple color spaces is used to grow the road region autonomously combining RGB space and HSI space. For binary images, chain-code tracing is used to get the edge of road, and then Hough transform is used to fit the road edge line.The experimental results manifest that, for the varied and lower-quality color road images, better results are obtained in the dissertation.