Vision-Based World Exploration Demos

Animated gifs

• Visual range finder.
  Acquiring range data with a single camera.
  Building the visual sensor model to be used in range data fusing

Mpegs

• A single camera range finder used on robot "Boticelli" (4.4Mb mpeg file).
  At each location the robot 1) looks around with a camera, 2) builds a 3D occupancy model of the surrounding environment by fusing the uncertain range data registered by the camera, and 3) extracts a 2D navigation polygon, which is the area which is given more priority in exploration.

• Robot "Boticelli" finds a target (a green triangle) hidden behind a wall by exploring an unknown room with a single camera visual sensor, using the technique described above (4.2Mb mpeg file). Range data acquisition is cut from the video-clip.