The utilization of stereo cameras in robotic applications is presented in this paper.
The use of a stereo depth sensor is a principal step in robotics applications, since
it is the first step in sequences of robotic actions where the intent is to detect
and extract windows and obstacles that are not meant to be painted from the surrounding
wall. A RealSense D435 stereo camera was used for surface recording via a real-time,
appearance-based (RTAB) mapping procedure, as well as to navigate the painting robot.
Later, wall detection and the obstacle avoidance processes were performed using statistical
filtering and a random sample consensus model (RANSAC) algorithm.