Fig. 1. Image feature matching of mobile robot. (a) Matching in near scene; (b) matching in far scene

Fig. 2. Installation status of calibration board in binocular vision

Fig. 3. Global localization principle of mobile robot based on binocular vision

Fig. 4. Motion area detection of mobile robot. (a) Original image; (b) processed result based on Gaussian mixture model; (c) processed result based on morphology; (d) minimum rectangle mark

Fig. 5. Corner detection of mobile robot area based on FAST

Fig. 6. Corner detection of calibration board

Fig. 7. Global localization experiment platform for indoor mobile robot based on binocular vision

Fig. 8. Global localization results along a square track

Fig. 9. Global localization error. (a) Localization error of 1st lap; (b) localization error of 2nd lap

Fig. 10. Global localization results along a circular track

Fig. 11. Global localization error