![](bg4.png)
Figure 7: The depth map from the stereo system
Figure 8: 3D images perceived by robots
5 CONCLUSION AND FURTHER
WORK
Stereoscopic systems for robot navigation and
robot networks are currently possible using
structured light and low-resolution real-time
devices. Although these devices don’t have the
same performances as the human depth perception
system, they seem efficient for simple applications
such as obstacle avoidance and co-ordination
control for multiple robots. The system is low cost
and easily implemented for autonomous systems.
The active vision system can adapt different
lighting environment and camera intrinsic and
extrinsic parameters by using our normalisation
algorithms (Finlayson and Tian 1999) and data
fusion from the redundancy data of the structured
light based stereo vision.
Until recently certain distributed systems
aspects of multi-robot teams were not given much
attention. A sensing approach has been proposed
for cooperative robotics. In the future, the system
will be integrated with panoramic stereo vision
systems for wide range of position monitoring
(Bunschoten and Kröse 2002). Further data fusion
for robot networks or sensor networks will be
investigated (Büker etc 2001).
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