Recently I pay more attention to hardware building. I need a robot that is agile and fast with a small turning radius and long endurance.

I modified a P3-DX robot base and added a stereo cam to my setup.

Inserting the controller into the base:

The main controller board:

Robot base and main power motherboard:

Upper structure:
Nearly finished:
Differential drive and a caster wheel, looks like DARPA’s LAGR robot platform:

[Updated Feb.28, 2011]

I finished the program on real time disparity map generation:

[Updated March 11, 2011]

Now the program can do real-time point cloud generation and camera pose estimation:

[Updated April 6, 2011]

Oudoor experiment result: