Abstract
Rescue work after a coal mine accident is fraught with challenges and dangers. Considering the safety of rescue workers and the urgency of a rescue mission, it is necessary to use coal mine rescue robots to perform the tasks of environmental detection and rescue. As a key part of the robot sensing system, a visual sensor can provide much information about a scene. Among vision sensor types, binocular vision has the advantages of being noncontact and passive, and it is the key technology for a robot to acquire obstacle information and reconstruct a three-dimensional scene. Therefore, coal mine rescue robots based on binocular vision have become a popular research topic in the field of mine safety. First, the research status of camera calibration and stereo vision matching for binocular vision is systematically introduced in this paper. Second, the latest research progress on coal mine rescue robots based on binocular vision is reviewed from the perspective of technological applications and development. Finally, the technical challenges and future development trends of binocular vision in coal mine rescue robots are described.
Highlights
Coal’s share of primary energy is 27.2% according to the British Petroleum (BP) Statistical Review of World Energy released in 2019 [1]
Camera calibration methods based on pure rotational motion and projective reconstruction have a certain range of applications [34], [35]
Binocular vision can help robots to perform obstacle recognition and 3D scene reconstruction, so the development of its key technologies is closely related to coal mine rescue robot (CMRR)
Summary
Coal’s share of primary energy is 27.2% according to the British Petroleum (BP) Statistical Review of World Energy released in 2019 [1]. The Leader robot was transported to the scene of the accident and entered the mine to explore in place of rescuers [11]; the robot is shown in Fig. 2 (b) This robot was loaded with cameras and other detection equipment that can operate in the unstructured environment of a coal mine. Binocular vision have become the main component of the vision modules of robot sensing systems; Fig. 3 shows the 3D model of a CMRR with vision sensors, named MSRBOTS, developed by a research team at the Beijing Institute of Technology, and it obtains information on the scene of a coal mine through two cameras to achieve the correct positioning [6].
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