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.