1. Open Source Robotics Vision and Mapping System Craig Schroeder June 1, 2005

2. Problem ● Lack of Available Robotics Tools – Map Building – Path Planning – Input Management ● Redone by Each Group ● Barrier to Robotics Research

3. Product Features ● Open Source ● Gather Input – Stereo Image Pairs – Ladar ● Generate Maps ● Plan Paths

4. Existing Tools ● CVOnline ● OpenCV ● Robotics and Vision Research

5. Image Credits ● http://www.mn.afrl.af.mil/public/facility/lderf.html ● Fleebot Software Engineering Project ● http://www.informatik.uni- freiburg.de/~burgard/postscripts/haehnel_iros02.pdf ● http://www-cv.mech.eng.osaka-u.ac.jp/~jun/pdffiles/iros2002.pdf ● http://www.taygeta.com/robots/pathplan.html