Research of mobile robot locating technique Based on Omni-directional Vision

A recognizing and fixing by landmarks system based on the omni-directional vision image environment is designed in this paper. The principle of fish-eye lens image formation is analyzed and the general software module of this system is proposed. Based on FPGA and DSP hardware architecture developed the embedded control module, used the computer image processing algorithm to compile the processing software, realized the distortion correction of fish- eye lens image formation and the function of mobile robot recognizing and fixing by landmarks. The system can be applied to the localization and guidance of mobile robot based on landmarks under the indoor and outside semi-structured environment.