Finding of 3D structure by an active-vision-based mobile robot

The authors have developed a method for applying the active vision paradigm for a vision-guided mobile robot to acquire 3D structure of a man-made environment. The robot plans a circular path by itself, moves along the planned circular path by the visual feedback, computes the camera rotation from the vanishing points of horizontal lines in the scene, and estimates the 3D structure of the environment. Experimental results showed that this method was robust to the disturbances in real environments