A general-purpose vision system for diverse robots

In this paper, we present a general-purpose vision system developed for a variety of robots. The vision system provides a common interface for extracting visual information from the robots' surroundings. The vision system consists of a computer vision library and Property Service, which is a distributed software architecture. The vision system can be easily utilized by robots with differing capabilities. The extracted information is then presented using markers, a common description format. We demonstrate and evaluate the vision system on two diverse mobile robots.