Experimental study on mobile robot navigation using stereo vision

This paper presents the experimental study on the quantization error of stereo vision camera with the help of VICON motion capture system and its application to vision based navigation for a mobile robot. An experimental system is developed to obtain the quantization measurement error of stereo vision camera in different depth. The measurement error model is utilized to help to design the extended Kalman filter to fuse the information from stereo vision camera and optical encoder equipped on the mobile robot platform. The VICON motion capture system is also employed to justify the accuracy of vision based navigation algorithm. Experimental results demonstrate the effectiveness of measurement error model in improving the navigation accuracy.