Robot vision systems

I have a large robot 2 feet by 2 feet and 4 feet tall. I am looking for it to navigate through out a house. I can make programs on the computer to do mapping and wireless control but have no experience programming vision systems, so I am wondering what I use to get line detection of walls and obstacles and possible face recognition and object recognition. There are multiple arduinos on the robot as well as a raspberry pi and a wireless HD camera. I can do processing on a windows computer

thank you for your help

It's a huge, complex subject. Try to limit your exposure to the subtleties of image segmentation by going for extreme contrast colour schemes and obvious stark fiducials. Take a look at OpenCV.