An embodiment of stereo vision system for mobile robot for real-time measuring distance and object tracking

All these days, the active stereo vision system which can detect the certain object and measure the distance from the object through the camera's image have been studied. In the stereo vision system, it is the key point to search the certain object through the image and to track the object by controlling the motor which supports the camera based on the searched object information. Also, as the human being can estimate the distance from the object by using two eyes, the distance from the certain object can be estimated by using two cameras in the stereo vision system. When the certain object is located on the corner of image plane in the stereo vision system where the existing camera is fixed, an error occurs due to a lens's distortion, so reliability goes down. However, the cross stereo vision system always places the object in the middle of image and places the object in the middle of low distortion lens, so it can increase reliability of information gained from the system as its advantage. This paper is intended to implement the stereo vision system which can track the object and can measure the distance from the object in real time by applying the trigonometric measurement method and the robot kinematics to the cross-visual stereo vision system which is fabricate to be applied to the mobile robot and by distributing the controller's load, and to evaluate the performance by applying the mobile robot under an indoor lighting environment.