Abstract

Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software “the Point Grey's Triclops SDK library”. With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional coordinates of obstacles was calculated, so the accurate positioning of obstacles can be obtained. The mobile robot can avoid obstacles autonomously based on binocular stereo vision. Experimental results show that the mobile robot equipped with the system can complete the tasks of obstacle avoidance and get a good effect.

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