One camera is used in the autonomous navigation system of agricultural wheeled mobile robot

and CCD camera calibration is the key and precondition of the agricultual wheeled mobile robot’s correct and safe navigation.After camera calibration

the relationship between the point’s three dimensional road coordinate and its two dimensional coordinate in computer image is established

then based on this relationship

the robot pose is calculated

which promised the robot’s autonomous navigation.Therefore

according to the pin-hole perspective model of CCD camera

the relational equations between the known points’road coordinte in a plane board and the corresponding pixels in computer image are set up

then by using Matlab

both the internal and the external parameters of CCD camera are obtained.The experimental results show that the method of CCD camera calibration is available.