Active stereoscopic camera to build an occupancy grid for autonomous navigation

Using a SLAM technique, known as Rao-Blackwellized particle filter (RBPF), this work proposes to compare the performance of this solution in two situations: (a) using a rangefinder laser sensor to build an occupancy grid, as done in previous works in literature, and (b) using an active stereoscopic camera. This will allow to generate an occupancy grid, simultaneously while doing the robot´s localization, using only one device, reducing the payload and costs for this task. A future work will be performed to resolve the problems observed in this work.