Research on robot navigation vision sensor based on grating projection stereo vision

A novel visual navigation method based on grating projection stereo vision for mobile robot in dark environment is proposed. This method is combining with grating projection profilometry of plane structured light and stereo vision technology. It can be employed to realize obstacle detection, SLAM(Simultaneous Localization and Mapping) and vision odometry for mobile robot navigation in dark environment without the image match in stereo vision technology and without phase unwrapping in the grating projection profilometry. Firstly, we research the new vision sensor theoretical, and build geometric and mathematical model of the grating projection stereo vision system. Secondly, the computational method of 3D coordinates of space obstacle in the robot's visual field is studied, and then the obstacles in the field is located accurately. The result of simulation experiment and analysis shows that this research is useful to break the current autonomous navigation problem of mobile robotin in dark environment, and to provide the theoretical basis and exploration direction for further study on navigation of space exploring robot in the dark and without GPS environment.