Research and development of an indoor navigation system based on the digital processing of video images

The paper describes the development of an indoor navigation system of an autonomous mobile robot using image processing methods of industrial television. The system analyzes the surrounding space with a simple monocular TV camera. Color beacons placed on objects in the environmental are used as reference points. The developed system is tested under different environmental conditions. The mobile robot navigation accuracy is evaluated for the case of the simultaneous detection of two beacons.