Mobile Robot Binocular Vision And Three-Dimensional Revaluation

With the development of the vision technique and the robot technique, people use the cameras as the window between the robot and the environment, get the three dimension world scenery, such as the shape, gesture, movement and depth information. Then put those messages to the robot's head, information is filtered by computer, and choose the appropriate message tell the robot the next action.This paper is based on the mobile robot, the binocular vision theory and three dimensional rebuild. The binocular stereo vision is the method that observe the same scenery between two different angle, in order to get the pictures on the different visual angle. By the image geometry theory, calculate pels's warp on two images, finally get the three dimensional information of the environment.The binocular stereo vision technique is achieved by capture of images, camera calibration, image pretreatment and feature detection, stereo matching, and 3D information calculation. The paper just finish a whole robot binocular stereo vision system according to this sequence. In the camera calibration, on the basis of some typical camera calibration methods, adopt Zhang Zheng you's camera calibration method that base on plane calibration cyclostyle. stereo matching is that search the imaging position of the same target point in two different images, choosing the match character, confirm the match rule, realize the match arithmetic is the most important step in the carry out of stereo matching. Confirm the target position by analyzing the binocular stereo vision modal, use space geometry relation, put forward three dimension coordinate calculate expression of the target point. At the end of make the depth information for us, and can use the OpenGL rebuild the scenery's stereo information.The paper used the MATLAB, VC++, Open GL to compile the arithmetic and imitate the experiment.