A 3D perception system for the mobile robot hilare

In this paper we present a 3D perception system, currently under development, dedicated to be implemented on the mobile robot Hilare. Our goal is to provide the robot with the ability to build by itself its own representations of a non-trivial indoors environment ; these representations should include geometric and topological informations for the navigation system needs, and a certain level of semantic understanding of the world. Our system is based on a multisensory approach, using two 3D information acquisition modules : a scene modeling module based on a stereovision process and a laser range finder, and a dynamic vision module. These two modules are presented, and some experimental results are shown. Particular emphasis is made on the design of the perception system in its globality : use of redundant sensors, cooperation between modules, global system control.