Adaptive vision system/3D map reconstruction

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The objective of this research is to design and develop a free ranging outdoor navigation system that incorporates trajectory, position estimation and control. The free ranging navigation systems are not bounded to follow specific predefined paths, therefore, suitable for outdoor or dynamic environments. This work will combine the readings of several sensors including vision, GPS, dead reckoning, and rangefinder to develop a hybrid navigation platform. This research will be performed by generating mathematical and computational models of scene objects or features using optical, physical, geometrical, and statistical information of the scene. These models are then updated by incorporating particular sensors' readings. The decision of what sensors' readings should be included in updating each model will be made automatically. This decision will be made according to the model properties, surrounding environmental information, time, and weather and lighting conditions. The suggested approach can improve the reliability of intelligent navigation machines by enhancing their accuracy and robustness, and reducing (or bounding) the long-term positional drift. Free ranging navigation systems have a wide range of applications from industrial such as transporting systems for mines and harbors, to entertainment such as zoo guiding robots.