提出了一种基于室内标志点识别的单目视觉导航的方法。在地面上有规律地旋转一些标志点,采用辅助先验知识对标志点进行识别和分割,利用透视投影变换得到标志点与摄像机之间的相对距离,达到通过单目摄像机获得景物深度信息的目的。整个算法结构简单,易于实现,对由照明不均匀和地面反光所引起的各种干扰有较好地抑制作用。 A monocular visual navigation method based on interior landmark recognition is proposed. Some marker points are regularly rotated on the ground, the marker points are identified and segmented by using aided prior knowledge, and the relative distance between the marker point and the camera is obtained by using perspective projection transformation so as to obtain the depth information of the scene through the monocular camera . The whole algorithm has the advantages of simple structure and easy implementation, and better restrains various interferences caused by uneven illumination and ground reflection.