I plan on using vanishing point as a reference for the RSSC Hallway contest in October. I haven't played with it much on my robot yet, but it seems that vanishing point will direct the robot to the end of the hall, but will not necessarily keep it away from the walls.
Looking at the sample pictures, it seems that it will often be the case that the edges of the floor will be clearly delineated and that the slope of those two edge lines could be used to determine the robots position between the edges and be used to steer to the center of the hall.
Have you thought about whether this might be feasible?
For now, I'll probably use sonar to stay away from the walls with vanishing point as a stabilizing term. But, it would be neat to have a totally visual steering algorithm.
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