中文摘要：

为活动机器人本地化和航行的一个系统被介绍。与建议系统，机器人能被一个单个里程碑位于并且遨游一幅单个图象。并且航行模式可能是后面轨道的，教并且播放，或编程。基本想法是系统计算之间的差别期望并且公认的位置在每次然后在一个方向控制机器人减少那些差别。最小化机器人传感器设备，仅仅一个全向的照相机被使用。在扰乱环境的实验证明介绍算法柔韧、容易实现，没有照相机校正。本地化的 root-mean-square 错误(RMSE ) 是 1.4 厘米，并且在教和播放的航行错误在 10 厘米以内。

英文摘要：

A system for mobile robot localization and navigation was presented. With the proposed system, the robot can be located and navigated by a single landmark in a single image. And the navigation mode may be following-track, teaching and playback, or programming. The basic idea is that the system computes the differences between the ex- pected and the recognized position at each time and then controls the robot in a direction to reduce those differences. To minimize the robot sensor equipment, only one omnidirectional camera was used. Experiments in disturbing envi- ronments show that the presented algorithm is robust and easy to implement, without camera rectification. The root- mean-square error （RMSE） of localization is 1.4 cm, and the navigation error in teaching and playback is within 10 cm.