“…Artificial vision systems have been widely used as external sensors in mobile robotics applications due to the large amount of information that they can offer. For this reason, they have nowadays become the most used sensors in tasks such as surveillance, search, exploration, rescue, mapping, obstacle detection and they have been used for autonomous navigation (Carelli et al, 2006b;Couto et al, 2008;Koyasu et al, 2001;Koyasu et al, 2002;Nebot & Cervera, 2008;Okamoto & Grassi, 2002;Soria et al, 2007;Toibero et al, 2009;Vassallo et al, 2005). Moreover, the use of two or more cameras simultaneously gives the system the 3D perception, allowing it to successfully perform different tasks in completely unknown environments.…”