Stereovision systems for autonomous mobile robots

摘要

When a robot tries to move, it must first judge whether it is free to move, i.e., it must check whether there is any obstacle that could hinder its movement. This task must be studied when designing the vision system for robots. We have developed a realtime stereovision system for mobile robots; we call the vision a Passive Range Pattern Sensor System (PRPS vision). We have succeeded in implementing these systems in actual mobile robots; whereby the PRPS vision system supervises the movement of the Karlsruhe Au-tonomous Mobile RObot (KAMRO) of the University of Karlsruhe, Germany. We would like to introduce the PRPS vision in detail in this paper.