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This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness.This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goaldriven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a lowcost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of lowcost, external peripherals, with offtheshelf procured robots. An important highlight of the book is that it presents a detailed, stepbystep sample demonstration of how visionbased navigation modules can be actually implemented in real life, under 32bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
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