Indoor navigation algorithm for mobile robot based on monocular vision

Considering the features of indoor environment, a simple fast indoor navigation algorithm for vision-guide mobile robot was presented, which used skirting lines as the reference objects to locate the mobile robot. This algorithm detected skirting lines using monocular images and analyzed the lines' parameters to provide angle and distance of the robot as inputs of robot control. Without calibrating camera parameters, this algorithm greatly reduces the computation time and improves the real-time ability of vision navigation.