Given this setup we then want to design, implement and demonstrate control strategies for more advanced maneuvers. Vision for out-door navigation CAS develops autonomous robots for outdoor use. For navigation in an outdoor setting it is necessary to have facilities for automatic mapping of the terrain and detection of obstacles. The outdoor domain is characterised by less structure than an in-door environment and the problem of mapping is thus more challenging. In this project the aim is developed basic methods for terrain mapping.
Vision is by far the most flexible sensory modality for sensing of the environment.
Through use of stereo mapping it is in principle possible to generate a map of the environment. To enable robust mapping there is however a need for methods that allow automatic compensation for variation in illumination, surface properties, etc. The aim of the project is to develop methods for robust real-time stereo mapping in a forest type setting. The system is to be implemented on a standard Linux computer using a fixed stereo rig. Object recognition for service robots.