Binocular Vision-Based Intelligent 3-D Perception for Robotics Application

Abstract

Vision-based robotics has been the subject of several research contributions in the area of vision and control. Vision technology is becoming a pioneer in the most common applications such as localization, automated map creation, autonomous navigation, mapping analysis, or risk pattern prediction. The Stereo applications or programs use pairs of 2-D images as inputs and generate reconstructed 3-D imagery by locating the matching points. This paper introduces a method to the development of an algorithm of intelligent 3-D view reconstruction using the binocular vision for the robotic applications. The proposed system consists of two identical colour cameras and cameras were mounted as one stereo camera. 3-D reconstruction and visualization were performed according to the pair of 2-D images. Calibration, multi-view image acquisition, the stereo rectification process, and the disparity process were discussed in Section II. Real-time captured images and stereo image from Middlebury Stereo Datasets were used to test the system and verify results in Section III.