Mobile Robot Navigation with Front Moving Stereo Vision System in Single Camera

摘要

Stereo vision is one of the important sensor modality for robot navigation. Above all, depth information is important parameter to understand the real world. A variety of methods concerning on the extraction of depth information in stereo vision system are widely used. In this paper, we proposed a front-mounted single camera based depth estimation and robot localization method. The advantage of front-mounted camera is reduction of redundancy when the robot moves. The robot computes depth information from the captured image, moving around. And then the robot location is calculated by depth information.