Stereo vision SLAM based indoor autonomous mobile robot navigation

摘要

This manuscript presents 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 built system incorporated a number of SLAM based routines while replying on stereo vision mechanism. The system was implemented and tested on a mobile robot platform, and perform an experiment of autonomous navigation in an indoor environment.