Paper Title:
3D Reconstruction Based on Binocular Stereo Vision of Robot
  Abstract

In order to meet the need of identifying obstacles and navigating for the Coal Mine Detection Robot which is used to rescue life and detect environment from coal mine disaster, binocular stereo vision is researched and 3D model of objects around the robot is reconstructed by means of two cameras of visual system built in the robot. The two cameras are calibrated and two projection matrices of them are obtained. Then, two images of the same scene are obtained by the two cameras. The matching points of two-dimensional coordinate are got through Harris corner extraction and stereo matching. According to the principle of binocular vision, equations are obtained and solved by least square method, which can calculated the discrete points of 3D coordinate.

  Info
Periodical
Chapter
Chapter 5: Advanced Manufacturing Technology
Edited by
Xiaodong Zhang, Zhijiu Ai, Prasad Yarlagadda and Yun-Hae Kim
Pages
645-648
DOI
10.4028/www.scientific.net/AMR.338.645
Citation
Z. G. Niu, L. J. Li, T. Wang, "3D Reconstruction Based on Binocular Stereo Vision of Robot", Advanced Materials Research, Vol. 338, pp. 645-648, 2011
Online since
September 2011
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Price
$32.00
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