基于立体视觉的3 维模型重建

为实现智能机器人清晰把握周围环境的3 维信息，提出一种基于坐标变换的3 维模型重建方式。采用双 目立体视觉结构，经过图像获取、摄相机标定-校正、立体匹配和3 维特征提取等操作，获取单一视图下物体的3 维 几何信息。将多个不同坐标系下的3 维几何信息归一化为同一坐标系下的信息，并选取具有代表性的长方体纸箱进 行实验验证。结果表明：该方法能实现3 维模型的重建工作，对环境几何信息的理解和避障导航有一定的参考价值。

3D Model Reconstruction Based on Stereo Vision

In order to realize the intelligent robot to clearly grasp the 3D information of the surrounding environment, a 3D model reconstruction method based on coordinate transformation is proposed. The binocular stereo vision structure is used to obtain the 3 dimensional geometric information of the object in a single view through image acquisition, camera calibration-correction, stereo matching and 3 dimensional feature extraction. Normalize 3D geometric information in multiple coordinate systems to information in the same coordinate system, and a representative rectangular carton is selected for experimental verification. The results show that the method can realize the reconstruction of 3D model, and it also has certain reference value for the understanding of environmental geometric information and obstacle avoidance navigation.