Research on Target Ranging of Mobile Robot Based on Binocular Vision

Abstract

In order to enable the mobile robot to obtain the three-dimensional information of the objects in space and ensure the safety of the mobile robot’s movement. Based on the principle of binocular stereo vision, combined with the methods of MATLAB and OpenCV, a target ranging system based on binocular stereo vision is designed on the mobile robot. The system uses the built-in toolbox of MATLAB to complete the binocular camera calibration, use OpenCV to extract the corner information and edge information of the target, and use the SIFT stereo matching algorithm to stereo match the left and right image pairs, and then obtain the disparity map by writing the ranging program, reproject the two-dimensional space points into the three-dimensional space, realize the conversion from two-dimensional coordinates to three-dimensional coordinates, so as to obtain the distance between the mobile robot and the target in real time. Finally, the distance test result is compared with the actual distance result, which proves that the measurement error is small, and verifies the feasibility of the distance measurement method.