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Aiming at the complex condition of non-uniform lighting,damaged ribbon and a few clutter interference , the guided ribbon pictures of AGV based on vision has been collected to extract features, conducting the image pretreatment by using the methods of Graying and Median filter,study on the dynamic threshold segmentation methods include Otsu algorithm and Iterative method and the application of mathematical morphology in image processing, and make image threshold segmentation experiments respectively to analysis.Then extract the boundary of the segmented image ,analysis on the least-square and Hough transform methods ,a algorithm of ribbon's center line fitting based on the Hough transform is proposed , and using the methods respectively to obtain ribbon's center line and its mathematical Equation .Experimental results show that under the complex conditions ,using the method based on Otsu algorithm and mathematical morphology to segment image can get better effect on Boundary integrality of binary image ,and using the algorithm based on Hough transform to extract ribbon's center line and its mathematical Equation can be more accurate and effective.