A multi-configuration stereoscopic vision system for domestic mobile robot localization

摘要

A multi-configuration stereoscopic vision-system is described. We present the mechanical and electronic features of the stereoscopic head together with the hardware. We describe the methods of image processing implemented for overcoming the optical quality drawback of the low-cost CCD mini-cameras. Algorithms and results for the high-level image representation and 3D reconstruction are presented. The structural characteristics, the low-cost and the precision of the stereo system built, allow its utilisation in domestic mobile robotic applications.