Abstract：In this paper, a new monocular vision system was proposed to improve obstacle detection capability of indoor mobile robot. In this system, firstly, the Hue, Saturation, Intensity (HSI) color space conversion of images was performed. Secondly, a small target threshold selection method was proposed to segment the images, which enhanced the precision of the image segmentation. Thirdly, the target scene matching method and target projection matching method were used to calculate the change of the target pixel and projection so as to judge whether the target is obstacles or ground graphs. The experimental results show that the monocular vision system is effective and feasible, and this system can be applied to the navigation for small indoor mobile robots.
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2012, Vol. 32 
