A visrual 3D modelling system for the robot autonomous obstacle negotiation in substation

The inspection robot is an autonomous robotic system for inspecting substation equipment to help or replace workers. In order to do the navigation and obstacle negotiating autonomously instead remote control, a stereo vision based 3D mapping system for the measurement of the environment is development. An original mapping and location system by lacer has applied on the robot for the location the robot's pose and navigation in the global frame. We construct a local 3D grid map of the robot's current pose also in the limited distance range. The vision system could capture the level ground, inclined ramp, and the obstacle providing enough information for the autonomous negotiation by the new tracked inspection robot in substation.