Based on the obstacle detection problem of intelligent moving robot,this paper proposed a three-di-mensional reconstruction method of binocular stereo vision assisted by dual laser scanning lines.It can change the laser scanning angle and frequency self-adaptive according to the variety of the scene,and adjust the density in-formation of feature points dynamically.It can make the DSP processor to collect depth information efficiently at the feature matching algorithm with dealing multi tasks.According to the indoor corridor walking experiment,the system can detect the open door and calculate the parameters of the threshold.This method can improve the effec-tiveness of embedded processing,and the distance error is less than 5％.
维普
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