This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are det...

Pipe inspection is one of the areas that have attracted high research interest for robot applications especially in oil and chemical industry and civil engineering. Robot body rolling while it travels within a pipe has been a problem for accurately collecting inspection data. Under certain circumstances where vision systems have to be employed, robot body rolling may cause vision inspection dat...

1 www.erpublication.org  Abstract— This paper presents a new vision based routing method using elliptical geometry approach for floor-pattern tracking on robot navigation. Path tracking is important in vision based mobile robot navigation and it acts as the sense of seeing, recognizing and directing the mobile robot to its destination. Geometry for floor pattern is designed and vision based pa...