I now have both of the stereo cameras calibrated, and am fairly confident that I'm getting good quality disparities, which should at least suffice for navigation purposes. I wrote an extra program which allows me to visualise the stereo disparity and manually alter calibration parameters to observe the effects. Hence, if there are problems I can check the camera calibration more thoroughly than was possible previously.

The next step is to do integration testing with all of the systems running - stereo vision server, motion control server, servo control server, steersman and ultrasonics server. With luck I should be able to create some real maps soon.