Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visualsensing using different kinds of vision cameras) for the autonomous navigation of a wheeled robot team. It isproposed a triangulation-based method for the 3D-posture computation of an unknown object by considering thecollaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to suchobject while maintaining a desired robot formation. Experimental results with real mobile robots are included tovalidate the proposed vision system