Sistema de Navega\c{c}~ao Aut^onomo Baseado em Vis~ao Computacional (original) (raw)

Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many efforts have been made to develop robots with an increasingly high level of autonomy. They must be capable of locomotion through dynamic environments, without human operators or assistant systems' help. It is noted, thus, that the form of perception and modeling of the environment becomes significantly relevant to navigation. Among the main sensing methods are those based on vision. Through this, it is possible to create highly-detailed models about the environment, since many characteristics can be measured, such as texture, color, and illumination. However, the most accurate vision-based navigation techniques are computationally expensive to run on low-cost mobile platforms. Therefore, the goal of this work was to develop a low-cost robot, c...