This project targets at applying the state-of-the-art technology in computer vision which is depth sensor equipped with RGB camera called Kinect. Kinect is not only normal camera sensor but also a special device can provide depth map. Depth map is acquired through OpenNI library then processed by Point Cloud library to extract accurate information about the environment.
Below is my paper documented the features applied for autonomous robot to move within a indoor environment.
Full source code and thesis in details are available on the following github repository: