Modded iRobot uses vanishing point for navigation

"I was responsible for vision-based navigation of the robot within the hallways. I used the vanishing points from the parallel lines present indoors to compute the robot heading. This was then fed into a controller to control the direction of the robot for navigation. The computation was made robust to change in light conditions, false detections, occlusions by a layered filtering approach that included RANSAC and least squares filtering among others." -- Pratap Tokekar

Cutest robot ever?