  We have developed an algorithm to generate a complete map of the traversable
region for a personal assistant robot using monocular vision only. Using
multiple taken by a simple webcam, obstacle detection and avoidance algorithms
have been developed. Simple Linear Iterative Clustering (SLIC) has been used
for segmentation to reduce the memory and computation cost. A simple mapping
technique using inverse perspective mapping and occupancy grids, which is
robust, and supports very fast updates has been used to create the map for
indoor navigation.
