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针对室外智能移动机器人自主导航的要求，提出了基于多种新型视觉传感技术的室外道路环境综合理解方法，其基本原理是综合利用机器人四周360°景物的环视图象信息、机器人前方道路的双目注视图象信息以及机器人运行过程中形成的时空全景图象信息，综合完成实时机器人行驶方向确定、实时路面障碍物检测和机器人全局定位等视觉任务。
In order to meet the requirement of autonomous navigation of outdoor intelligent mobile robots, a comprehensive outdoor road environment comprehension method based on a variety of new vision sensing technologies is put forward. The basic principle is to comprehensively utilize the 360 ° view information of the surroundings of the robot, Eye gaze image information and space-time panoramic image information formed during the operation of the robot to complete the visual task of determining the driving direction of the real-time robot, real-time road surface obstacle detection and robot global positioning.