Intelligent Indoor Mobile Robot Navigation Using Stereo Vision
This work addresses indoor navigation for mobile robots by combining stereo vision and ultrasound sensors, though it appears incremental as it builds on existing fusion techniques.
The paper tackled indoor robot navigation by developing a cost-effective stereo vision system integrated with ultrasound sensors, enabling obstacle avoidance and successful navigation in complex environments while creating 2D topological and 3D models.
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding environment. Stereo vision, while still being a rapidly developing technique in the field of autonomous mobile robots, are currently less preferable due to its high implementation cost. This paper aims at describing an experimental approach for the building of a stereo vision system that helps the robots to avoid obstacles and navigate through indoor environments and at the same time remaining very much cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensors which helps in the successful navigation through different types of complex environments. The data from the sensor enables the robot to create the two dimensional topological map of unknown environments and stereo vision systems models the three dimension model of the same environment.