First the idea of visual protractor is introduced, then a Kalman filtering method is used to fuse visual information with encoder information to correct the mobile robot tracks obtained with encoder.

• 首先，介绍了视觉量角计的思想，进而利用卡尔曼滤波的方法将视觉信息与码盘信息相融合，对依靠码盘得到的航迹进行了修正。