Design of a Fully Vision-Guided Mobile Robot

Masaharu Kobashi, Akifumi Kobashi, Atsuhide Kobashi

Most current mobile robots rely on laser or sonar range finders wholly or partially. We have designed a mobile robot which uses only visual information for navigation. Our robot design is based on our fundamental philosophy that high performance vision requires very high computing power. In order to fulfill this requirement, our robot is built to accommodate up to five high performance computers. Another unique characteristics of our robot is its visual SLAM and the cooperative 3D perception that uses both depth from focus/defocus and 3D binocular stereo.

Subjects: 17. Robotics; 19. Vision

Submitted: Oct 3, 2007

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