The invention discloses a 
binocular vision positioning and three-dimensional mapping method for an indoor 
mobile robot. A 
binocular vision positioning and three-dimensional 
mapping system for the indoor 
mobile robot is mainly composed of a two-wheeled 
mobile robot platform, an 
odometer module, an analog camera, an FPGA core module, an 
image acquisition module, a 
wireless communication module, a storage module, a 
USB module and a remote 
data processing host computer. The FPGA core module controls the 
image acquisition module to collect information of a left image and a right image and sends the information of the left image and the right image to the remote 
data processing host computer. Distance information between images and the 
robot is obtained on the remote 
data processing host computer according to the information of the left image and the right image in a fast 
belief propagation algorithm, a three-dimensional environmental map is established in the remote data 
processing host computer, recognition of a specific marker is realized in an improved SIFT 
algorithm, and then the position of the mobile 
robot is determined through 
information integration in a 
particle filter algorithm. The 
binocular vision positioning and three-dimensional 
mapping system is compact in structure and capable of having access to an intelligent space 
system so that the indoor mobile 
robot can detect the environment in real time and provide more and accurate services according to the corresponding position information at the same time.