Abstract:

Mobile robots with autonomous navigation ability are more and more widely used in disaster relief, housekeeping and other human life. As a kind of robot vision navigation, monocular vision navigation algorithm has the advantages of low cost and unlimited distance, but it still has scale uncertainty and initialization problems. This review according to the characteristics of the movement of the mobile robot research, from the main obstacle detection, spatial localization, path planning of monocular visual navigation technology for modular analysis, and the key technology of monocular vision navigation algorithms for iteration and development context, analyzes the typical algorithm of each module, different algorithms are compared in terms of speed, accuracy and robustness, the main problems and difficulties of the algorithms are analyzed. Finally, the future development trend of monocular vision navigation technology for mobile robot is predicted based on the human demand for mobile robot capability and the current situation of technology.

Key words: mobile robots, monocular, path planning, obstacle detection, visual navigation

摘要：

拥有自主导航能力的移动机器人在救灾、家政等人类生活中使用得愈加广泛。单目视觉导航算法作为机器人视觉导航中的一种，具有成本低、距离不受限的优势，但仍存在尺度不确定性和初始化问题。该综述根据对移动机器人的运动性质研究，主要从障碍检测、空间定位、路径规划三个方面对单目视觉导航技术进行了模块化分析，并以单目视觉导航算法的关键技术迭代与发展为脉络，对各模块的典型算法进行分析，从速度、准确性、鲁棒性等方面对不同算法进行综合性评比，并对算法存在的主要问题与难点进行剖析，结合人类对移动机器人能力的需求和移动机器人的技术状态对单目视觉导航技术的未来发展趋势进行预测。

关键词: 移动机器人, 单目, 路径规划, 障碍检测, 视觉导航