The paper concentrates on the problem of object 3D-reconstruction with the help of mobile robot stereo-camera. The issues of single camera calibration, stereo-calibration, key points detection based stereo-rectification, epipolar geometry are considered. The observed object 3D-reconstruction algorithm implementation in mobile robot computer vision is described. Algorithm includes stereo-calibration, Bouguet method based stereo-rectification, 3D-reconstruction with the help of Delaunay triangulation steps.
трехмерная реконструкция, мобильный робот, стереокалибровка, стереоректификация, эпиполярная геометрия, особые точки, триангуляция Делоне, 3D-reconstruction, mobile robot, stereo-calibration, stereo-rectification, epipolar geometry, key points, Delaunay triangulation
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