Calculation method on spatial coordinates of points based on binocular vision of coal mine mobile robot

Abstract

In order to achieve the spatial 3D reconstruction of underground key points obtained by mobile robot with binocular vision,the data simulation and practical scene image data obtained by actual binocular system are used to investigate the parallel law of binocular imaging system in this paper.The correction of parallel polar line constraint for image pairs collected by binocular vision system is proposed.After the pixels that stand for spatial coordinates are calculated by the corresponding points of two images,the spatial points will be reconstructed.As a result,the actual reconstruction of underground scene shows that the method proposed is of significance to underground visual measurement,3D image acquisition and 3D reconstruction of underground roadways.