A Robot Vision System.
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
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This project includes the design and implementation of a vision-based goal achievement system. The system relies only on ambient light, and through the use of a passive vision system, allows an autonomous roving vehicle to traverse an environment to a goal. The project includes visual processing of stereo optical image sequences into a 3-dimensional model, and the generation of a path through the model. The system outputs the sequence of robot commands necessary to traverse the path, modifying the path as needed during the traversal to compensate for vehicle and environment variations from the model. A unit designed with these characteristics can act as the heart of a general purpose autonomous vehicle transport platform. This dissertation achieved the implementation and evaluation of a stereo vision system, as well as outlining the modelling requirements, and proposing modelling and path-finding algorithms to support the full project.