Active Stereo Vision for Mobile Robot Localization and Mapping Path Planning

Abstract

This manuscript looks into details into the hardware implementations of an active stereo vision path planning navigation for a mobile robotics system. This mobile robotics system has been designated as the (KSU-IMR), as it a test-bed for research within the area of mobile robotics system navigation through the use of an active stereo vision for planning a path within an unstructured environment at King Saud University in KSA. The system is making use of fast image processing tools, as in addition to fast algorithms for processing the dynamic images. The approach followed here is to employ the Epipolar Geometry to compute the 3-D details of the environment where the mobile is moving. The algorithm mixes stereo vision, occupancy grid mapping, and potential field path planning procedures to form a robust and consistent robotic system for mapping and navigation.