In my application, my robot has the following physical setup:
- Differential drive mechanics with feedback (wheel encoders)
- Commercially available webcam mounted with a known transform to the base of the robot (RGB, no depth)
The robot will be navigating through a structured, indoor type environment (think office, home, or university), and I would like to be able to determine the navigable paths through the environment using my vision sensor.
What is the best way to approach the problem of finding safe paths to travel when given a single vision sensor?
Edit: I think that I am more interested in the vision processing techniques than the actual path-planning mechanics.