Research on an embedded omnidirectional vision navigator

A novel omnidirectional vision navigator based on embedded technology and fish-eye lens is researched.It can control different kinds of mobile robots to finish the automatic navigation in the indoor condition with large scale illumination variation and in the outdoor environment with strong sunlight.An omnidirectional vision navigation algorithm with the core of multi-target tracking is presented.The efficiency and adaptability with illumination variation of tracking algorithm have been improved by implanting meanshift and dynamic threshold adjustment into the particle filter.The results demonstrate that the embedded omnidirectional vision navigator has high ability of commonality,robustness and real time control with different mobile robots and navigation applications.