将结构光方法应用到地面移动机器人视觉道路识别中。首先阐述了结构光方法的原理，并根据结构光的特点，研究了在噪声干扰条件下的环境图像的处理、道路识别、路径规划等内容。实验表明，结构光方法能够满足移动机器人实时视觉道路识别的需要，具有简单快速的优点，有一定的实用意义。关键词：结构光；移动机器人；计算机视觉；图像处理Abstract: A method of structure-light integrated with path detection for ground mobile robot is proposed. Principle of structure-light method is introduced at first. Processing images of stripe disturbed by various noise, path detection and path planning are discussed, from specialties of structure-light. Finally, experiment results indicate that a method of structure-light is effective, simple and practical to meet the real time needs for autonomous robotic path detection.Key words: structure-light； mobile robot； computer vision； image processing
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