移动式机器人系统的一个重要课题是视觉导航系统的研制.为了通过环境正确导航,移动机器人必须感知和理解其环境结构,这样就必须提取与景物相关的模型特征.本论文一方面对视觉系统中的关键技术——线性特征抽取进行描述与实施,并将其成果应用在道路边界的检测上;另一方面对视觉系统中的另一重要技术——Hough变换,从理论到实验进行了详细的推导和验证.论文包括两大部分: Mobile robot system is an important issue of visual navigation system development.In order to navigate through the environment correctly, the mobile robot must sense and understand the environment structure, so it must extract the model features associated with the scene.This paper on the one hand the visual system On the other hand, Hough transform, another important technology in the visual system, has been studied in detail from theory to experiment Derivation and verification.The thesis consists of two parts: