This program is a complete stereo vision robot navigation system that has been successfully tested on different robot platforms. (See I modified the code so it can run on simulation files rather than a real robot system. I’ll keep improving the code and add more modules.

Demo program and complete source code:

Direct download link:

Powerpoint presentation:

1.   Program Interface

2.   Real-time stereo matching

3.   3D-point cloud generation and ground plane detection

4.   Path planning