一种移动机器人双目视觉系统的三维重建算法及应用

3D-reconstruction algorithm of mobile-robot binocular stereo vision systems is presented. First, we calibrate the lenticular equivalent focal length and calculate the target angular deviation in single sheet map. Second, from the triangle principle the camera-based coordinates is deduced and the conversion from the camera-based to robot-based coordinates is developed, thus, more practical reconstruction result is obtained. Finally, a control algorithm is presented and the motion control parameters are decided. The three important operation functions of PTZ camera are used to expand vision field of mobile robots and realize gaze location for still target. Experiment results of robot vision guidance show that the proposed 3D-reconstruction algorithm can meet the mobile-robot navigation requirements for real-time calculation and precision.