A fast and robust vision system for autonomous mobile robots

Computer vision system is an important sensor for autonomous mobile robot. However, the design of a vision system that can satisfy the needs of both robustness and efficiency is still difficult. In this paper, a fast and robust vision system is described which increases its speed and robustness through choosing suitable color space, algorithms of mathematical morphology and active adjustment in parameters. All of the algorithms are employed in a pan-tilt vision system of an autonomous mobile robot.