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《Journal of Graphics》 2017-04
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The Application of Three-Dimensional Reconstruction Technique Based on Motion Parallax in AGV

LUO Changping;XIA Haibo;ZHAO Qiong;Shanghai Advanced Research Institute, Chinese Academy of Sciences;University of Chinese Academy of Sciences;School of Information & Electrical Engineering, Harbin Institute of Technology (Weihai);  
The principle of motion parallax is used for achieving the three-dimensional reconstruction of scenes ahead with a single camera, and this process is expounded in detail by some geometric operations. The application of the reconstruction in indoor automatic guided vehicle(AGV) about processes of obstacle detection is researched. The traditional solution using some algorithms to divide the real-time image passed back by the camera into some accessible areas is improved to make obstacle information been of more authenticity and actual calculated meaning. Experimental results indicate that the proposed solution is of strong operability and enhances the obstacle detection ability of indoor AGV under the condition of a single camera, and has good robustness in different real environments.
【Key Words】: motion parallax three-dimensional reconstruction automatic guided vehicle obstacle detection
【CateGory Index】: TP23;TP391.41
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