This program is a complete stereo vision robot navigation system that has been successfully tested on different robot platforms. (See https://qiaosongwang.wordpress.com/2009/10/21/introducing-my-new-robot-black-swan/). 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:

http://robotnavigation.codeplex.com/

Direct download link:

http://www.codeplex.com/Download?ProjectName=robotnavigation&DownloadId=318977

Powerpoint presentation:

http://www.codeplex.com/Download?ProjectName=robotnavigation&DownloadId=318982

1.   Program Interface

2.   Real-time stereo matching

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

4.   Path planning

5.   HPF SLAM