Using real-time stereo vision for mobile robot navigation

Don Murray Jim Little

Computer Science Dept.
University of British Columbia
Vancouver, BC, Canada V6T 1Z4

• Abstract
• Introduction
• Architecture
  • Mobile robot: José
  • Trinocular Stereo Algorithm
• Stereo vision and occupancy grids
  • Review of occupancy grids
  • Stereo sensor model
  • Constructing top-down views from stereo images
  • Map updating
• Improving stereo vision mapping
  • Characterizing stereo errors
  • Spike removal
  • Accuracy Preservation
• Navigation and exploration
• Conclusion
  • Remaining challenges
  • Acknowledgements
• References
• About this document ...