The Research Of 3D Reconstruciton Of Remote Control Robot Based On Stereo Vision Method

Vision sensor can obtain much more environment information than other sensors. So vision sensor may provide reliable information insurance for robotic control and decision-making. Nowadays, stereo vision sensor is widely applied, since depth information of objects and other 3D information can be obtained by stereo vision sensor, stereo vision is becoming one of international hot research field in nowadays.This paper is based on the remote control robot, the binocular stereo vision theory and three dimensional reconstructions. The binocular stereo vision is the method that observes the same scenery between two different angles, in order to get the pictures on the different visual angle. By the image geometry theory, calculate pixel's warp on two images, finally get the three dimensional information of the environment.The stereo vision technique is achieved by capture of images, camera calibration, stereo matching, and three-dimensional reconstruction. The paper just finishes a whole robot stereo vision system according to this sequence. In the calibration, on the basis of some typical camera calibration method that base on plane calibration cyclostyle, stereo camera cyclostyle used in this paper is introduced. Then this paper focused on stereo matching algorithm which is the most basic issue in stereo vision. The theory and four key components of stereo matching algorithm, On the basis of these key components, this paper divided the stereo matching algorithms in common use into three main categories and the basic idea, characteristics, advantages and disadvantages of each kind of algorithm is explained in detail. 3D reconstruction method is confirming the target position by analyzing the binocular stereo vision modal, use space geometry relation, putting forward three dimension coordinate calculate expression of the target point. At the end, make the depth information which is used in the OpenGL rebuild the scenery's stereo information.The system of 3D objects reconstruction based on stereo vision is designed and implemented. The experiment results show the feasibility of our 3D reconstruction system which provides a foundation for more far- ranging functions of stereo vision on mobile robot.