MARVIN generates the three-dimensional model only from discrete positions during a still stand to avoid vibrations of the cameras. During the motion the sensor system is used as an optical bumper scanning the free space in front of the vehicle for obstacles. The other possible behavior is shown in this  MPEG -video, where the optical bumper was switched off. A moving object occluded the planned path and caused a collision. The vehicle moves back several centimeters to inspect the unexpected obstacle.
 
 

The binocular stereo camera system shown in this  MPEG -video does not use any specialized hardware. The image processing and the three-dimensional reconstruction is computed on a single Pentium-PC @ 133 MHz running LinuxOS. The achieved cycle time of 0.6s is sufficient for this application. An example of a 3D reconstruction is shown in the following MPEG.