Generally

one camera is used in the autonomous navigation of agricultural wheeled mobile robot. Conventional algorithm of pose sensing

however

ignores the fact that pixels in digit image possess the different weight

and its compute time can not be optimized easily. In order to overcome these shortcomings

the perspective characteristic of the linear guiding road on the ground was analyzed carefully

then the relationship between the road coordinate in the digit image and the robot pose was established

so the relative pose could be obtained directly with the Hough transformation. Based on the prototype of agricultural wheeled mobile robot

the experimental results showed that the precision derived from this method is similar to those demonstrated by the other same type of researches.