Mobile robot navigation by center following using monocular vision

A system for center following in the corridor using monocular vision is presented. The robot detects a vanishing point and obstacle region from frontal view image. The vanishing point is found by two boundary lines of the wall and the corridor. The obstacle region is detected from corridor region using color histogram. The experiments are performed on the mobile robot. The results show that the robot runs the center of the corridor and stops when an obstacle is detected within the target range from 1m to 2m distance.