Abstract
In this thesis, an embedded system (EBC 320 Embedded System) as a platform to capture 2D camera image, and take advantage of NI control card to control servo motor with a laser range finder to scan the environment for reconstruction of visual image. Using the two different devices, visual images and images captured by camera for image registration. The image registration is carried out with manual and automated image registration. The first is the use of MATLAB programming language, with image captured by camera and visual image scanned by laser range finder to carry out image registration manually and image fusion with wavelet transformation, the purpose is to verify the feasibility of image registration, and then, in the window program development environment for automated image registration to explore. On the basis of use of automated image registration and definitions as the visual area for wheel-robot is to avoid obstacles. These are tests for wheel-robot through obstacles in different width of slit and different heights to further validate its efficiency.