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At the heart of the binocular stereo approach lies the task of stereo matching. i.e. solving for correspondences. Solving the correspondence problem accurately, reliably, and efficiently depends on the type of features used and the computational strategy employed. Similarity is the guiding principle for solution, with the premise that corresponding features will remain similar in the two images. Yet, because of factors such as noise, shadows, occlusions, and perspective effects, the appearance of the corresponding features will differ in the two images. Moreover, derivation of a matching primitive that contains adequate power to resolve ambiguities and is truly invariant with respect to the viewing geometries is a difficult task. This paper introduces a developed competitive stereo correspondence (CSC) framework that solves for these ambiguities. It is heuristic, iterative, and feature-based. Extensive experimentation is successfully carried out on real world scenes, of varying complexity, to evaluate the performance of CSC framework.

The local navigation problem for autonomous mobile robots (AMRs) and its applications to wheeled robots is addressed. The problem of driving an AMR to a goal in an unknown environment, containing both stationary as well as moving obstacles, is formulated as a dynamic feedback control problem. An algorithm using local feedback information to generate subgoals for driving the AMR along a collision -free trajectory to the goal is adopted. The local free -space for subgoal selections is constructed taking into account the locally visible obstacles and the AMR operating limits A dynamic model of wheeled robots based on driving and steering mechanisms is derived. A controller design based on a self-tuning pole assignment approach is presented for motion reference trajectory tracking. Integration of local sensor data, system dynamics and operating constraints with a developed deision support system, for steering and control, is performed to produce the appropriate intelligent navigation decisions. Finally, the effectiveness of the navigation and control strategies in directing the AMR along a collision -free trajectory to the final goal in a finite time, is illustrated, by simulation.