In this manuscript, we present an autonomous
navigation of a mobile robot using SLAM, while relying on
an active stereo vision. We show a framework of low-level
software coding which is necessary when the vision is used
for multiple purposes such as obstacle discovery. The
system was implemented and tested on a mobile robot
platform, and perform an experiment of autonomous
navigation in an indoor environment.
K. Al-Mutib : College of Computer and Information Sciences, King Saud University
P. O. Box 51178, Kingdom of Saudi Arabia
Stereo Vision
Localization SLAM
Mobile
Robot
In this paper, we focused on the autonomous mobile
robot navigation using the active stereo vision. We
developed the navigation strategy as based on
integration of a number of important navigation routines.
Hence, we also propose a framework of the vision
system with the software level, which mediates the
plural sensing requests and manages the vision
recourses. The mobile body was experimentally tested
for full navigation within an unstructured dynamic
environment. A real-time stereo-vision SLAM technique
was employed for motion purposes. The mobile robot
has shown an excellent model of integration amount
different layers and unit.
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