Stereo Vision System for Autonomous Mobile Robot Navigation
The navigation of mobile robots is a broad topic which covers some veryancient techniques, as well as some of the most advanced space science andengineering. Sonar, infrared sensor and laser technology are frequently usedas range scanners. As for these three methods, the reliabilities of them arequite satisfying. However, none of the single sensors can retrieve colourfulstereo information from circumstance without the assistance of other sensor.This report presents a cheap and purely stereo binocular vision basednavigation system for mobile robots which is capable of detecting the 3Dlocations of obstacles and the boundaries of traversable area, trackingspecific objects and planning routes in a basic way. Through the module tests,it is shown that our solution is particularly suitable for short-range mobile robotnavigation and there are various potential extensions of this system.