Developing 3D model for mobile robot environment using mono-vision system

Abstract

Mobile robot system will be an important asset in our future. Mobile robot not only has to execute predefined tasks programmed with, but also it must explore the unknown environment that might be pushed to work in. In this paper we propose, implement and test a new model for mobile robot environment using mono-vision system. This proposed system develops 3D environment model utilizing mono-vision system. The model is developed through capturing multiple shots from different locations. The 3D model describes the distance and the angle of objects with respect to the robot. Finally, the mobile robot will utilize this model to navigate its environment. This is achieved through projecting the 3D model into the motion floor and identifying the obstacles surrounding the robot. Then, the robot will avoid any object in its motion line. Most importantly, the model is updated continuously based on the changes in the environment and the location of the robot.