A Complete Navigation System for a Mobile Robot, Using Real-Time Stereovision and the Delaunay Triangulation

robot is equipped with a trinocular vision system that has been put into hardware and delivers 3D maps of the environment at a rate between 1 and 5Hz. Those 3D maps contain line segments extracted from the im- ages and reconstructed in three dimensions. This vision machine is heavily used in our laboratory, and our navi- gation system uses the 3D segments it produces to com- pute the free space around our mobile robot, locate the obstacles and plan a safe trajectory.