Design of a mobile robot vision

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This book deals with mobile robot autonomous navigation in natural (unstructured outdoor) environment. This is a very difficult task and we propose an appropriate but not avoidably complex solution using a vision based perception system and a behaviour based (re)action system. Since we could not use a real robot and for general testing purpose, we developed a real mono camera based vision acquisition system and a virtual acting 3D environment for mobile robot navigation. We developed a virtual environment called «VIMRINNE» (Virtual Interface for Mobile Robot Instant Navigation in Natural Environment) which provides a framework for study, experimentation and development of mobile robot applications in 3D VR. This work includes the following contributions: The definition of a software architecture allowing modularity, extensibility, and near real time processing, We will demonstrate the capabilities of our project through some experiments and evaluations that show the interest of our approach. We are convinced that this work will constitute a good basis in the building of a robust 3D virtual interface for mobile robot outdoor navigation.