Autonomous navigation of a miniature mobile robot using real-time trinocular stereo machine

Abstract

This paper describes a miniature intelligent mobile robot system with a real time trinocular stereo machine for autonomous navigation. The System is composed of a Lynx Hexapod robot, a trinocular stereo machine and a user board. The stereo vision machine (MSVM- III) with three cameras can generate high-resolution dense disparity maps at the super video rate just using one FPGA chip which makes the machine size much smaller for miniature robot stereo vision perception. The user board is an opening platform for users to further program the robot to perform given tasks.