This paper presents a technical vision system designed to resolve multiple tasks which are fundamental for autonomous navigation. These tasks include detecting the presence of a significant obstacle for a mobile robot, locate its position in the mobile robot's field of view and create a digital map of the obstacle's visible surface with metrological accuracy. This technical vision system has been introduced and explained in other publications; therefore this paper focuses mostly on signal conditioning, processing and resolution increase for mobile robot navigation.
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Básaca-Preciado et al. (2010) studied this question.
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