Stereo Odometry Based Realtime 3D Reconstruction

Abstract

Nowadays the autonomous robots are spreading more widely, meanwhile the people can meet such devices in everyday life, which can do different tasks independently. The robots are equipped with sensors to sampling environment's parameters and analyze data to achieve their goals. The robots with the recovered information will modify and help their own operations smoothly. Such sensors can also be cameras that provide visual information about the environment of the robot. Stereo cameras allow 3D reconstruction and with spatial information provide more accurate and more efficient algorithms. The aim of the task is to create a reconstruction system that includes a space reconstruction algorithm that is able to reconstruct space objects in real time in a 3D way. Accordingly, the article approaches the stereo 3-dimensional reconstruction process initially on a theoretical basis introduced with a matemathical model, then the concepts that are essential to understanding the steps of reconstruction are discussed. A number of tests were produced to demonstrate the algorithm's operation.