Three-dimensional Reconstruction of Working Environment in Remote Control Excavator

摘要

Remote control excavator solves the personal safety problem of operators in dangerous conditions, but the video surveillance of remote control excavators can't sense the stereo distance of the target. To solve the problem, the binocular vision method is used to reconstruct the 3D operating scene of the excavator, and help the drivers to effectively sense the spatial position of the target and bucket to improve the efficiency of remote control operation. Firstly, the noise generated by binocular camera during data collection was removed by guided filtering. And then, left and right images were matched by features based on Sum of Absolute Differences (SAD). Then, the generated disparity value was optimized according to the Winner Takes All(WTA) strategy. Finally, the disparity map of the working scene was obtained and the 3D reconstruction of the scene was completed. The experimental results show that the binocular 3D reconstruction system used in this paper can realize the 3D reconstruction of different scenes indoors and outdoors through the cooperation of software and hardware.