In this paper, the method for an effective and intelligent route decision of an unmanned ground vehicle (UGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The unmanned ground vehicle moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 24 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.
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