IMPORTANT: The SVN files only include the Demo program. You can download source code and demo program using the following link:

http://www.codeplex.com/Download?ProjectName=robotnavigation&DownloadId=318977


Project Description
This program is a complete robot navigation system which includes: reading stereo image stream, stereo matching, depth map generation, 3D-point cloud generation, RANSAC-based travesable area extraction, path planning and 2D-SLAM.


This program is a complete stereo vision robot navigation system that has been successfully tested on different robot platforms. I modified the code so it can run on simulation files rather than a real robot system. I'll keep improving the code and add more modules. 

1.   Program Interface

 

2.   Real-time stereo matching

3.   3D-point cloud generation and ground plane detection

4.   Path planning

5.   HPF SLAM

Last edited Dec 27, 2011 at 8:31 PM by qiaosong, version 3