Stereo image visualization for VISROBOT system

Abstract

The article describes a novel approach to robotic vision in mobile robot systems. The system implements a Visrobot system which implements a generic idea of using mobile robots for exploring an indoor environment. The task of such a robot is to visualize a stereo image properly for an operator. The system uses different stereo baseline values. Variable baseline can result in increasing depth resolution for distant objects. We assume that the robot works in a static environment. Variable baseline stereo imaging is realized based on the submission of images taken from different robot's placements. A disparity map is determined with the use of various baselines. A suitable visualization of the disparity extent allows us to build a stereoscopic picture that ensures a proper perception of the depth. The principal task of the Visrobot system is to display a 3D image to the system operator.