Study on mobile robot mapping based on binocular vision and Voronoi diagram

摘要

In this paper, we determine the three-dimensional coordinates of the obstacle with binocular vision sensor based on the application of improved SIFT (Scale-invariant feature transform) algorithm, the data will be treated as the the model generator of Voronoi diagram to complete the global map building. The biggest advantage of the V diagram is that the environmental path road is based on the vertical of the discrete centers of obstacles, which may make sure that the robot can keep away from the obstructions during operation. The experimental result shows that the map after construction demonstrate high reliability which consistent with the requirements of navigation.