Abstract: According to the target with no significant visual features，a novel vision navigation method is proposed.In the vision heading navigation，the salient feature point with known relative position to the target is chosen as the reference point.And the pose adjustment quantities of the robot are determined according to the image of the reference point.To improve the environmental adaptability，this algorithm uses only one reference point and has the advantages of simple structure and low computation complexity.Experimental results show that the vision navigation method combined with the location navigation device can eliminate the pose errors effectively，and the applicability and stability of the method are verified.

Key words: computer vision, heading navigation, salient feature point, motion control

摘要： 针对运行方向上导航目标本身不具有明显视觉特征的情况，提出了一种新的视觉导航方法。该方法利用环境中与目标位置关系已知的显著特征点作为参考点，根据参考点的成像位置确定系统运动的姿态调整量，实现机器人运行方向的导航。为了提高算法对环境的适应能力，该算法只利用一个参考点，具有结构简单和计算复杂度小等特点。实验结果表明，该文方法能够有效地消除导航过程的方向误差，能够配合位置导航装置实现机器人的方向导航，具有较高的实用性和稳定性。

关键词: 计算机视觉, 方向导航, 显著特征点, 运动控制