The invention relates to a fish-
eye lens omnidirectional vision guidance method based on a sequence double-color lattice fairway
buoy. The method comprises the establishment of a fish-eye
omnidirectional vision system, the construction of a fairway
buoy, the initialization of a fairway
buoy recognizer, the pretreatment of images, the identification of the current effective fairway buoy, the switching of a sequence fairway buoy and a guidance strategy of a
moving body. The invention relates to application of fish-
eye lens omnidirectional vision navigation, ingests the whole scene of the whole hemisphere field disposably, does not need to depend on rotation of a
single camera or
image synthesis of a plurality of vidicons and is greatly favorable for omnidirectional observation and independent guidance of the
moving body; a sequence double-color lattice type fairway buoy mode has topological characteristic close to natural scenery in indoor and outdoor structural environment, is simple, practical, easy to set and maintain and can effectively improve automatic identification and tracking efficiency of the fairway buoy in a distorted image of a large fish-eye omnidirectional vision scene; and a specific fairway buoy multi-target recognizer is supported on an embedded type DSP hardware platform to form an omnidirectional vision
vehicle guidance system which realizes the application target of independent guidance of the
moving body.