关键词: 视觉导航, RGB颜色空间, 路径识别, 曲线检测

Abstract: The paper describes a navigation system which is based on pattern classification of the navigation path.The environment images are analyzed in RGB vector space to study the feasibility of lane detection for outdoor robots.The navigation path is successfully recognized from the background.Perceptual color clustering and morphological image processing are used in preprocessing to obtain binary images and remove noise respectively.The guidance points are found from the average position information of the navigation path by progressive scanning.When the path has the obvious curve structure，the best guidance lane is located using least-squares curve-fitting，otherwise detecting the straight line as the navigation directrix.The experimental results demonstrate the effectiveness and the robustness of the approach.

Key words: vision navigation, RGB vector space, path recognition, curve detection