Building a model of the external environment of a robot based on stereo vision

In this article, the problems of constructing an external environment of a robot based on stereo vision are considered. Finding ways to solve problems related to building a three-dimensional model of the working environment. The theoretical part describes the basic formulas and definitions of stereoscopic vision. The optical distortions of the camera images and the alignment of images of the stereo system have been eliminated. The problem of classifying objects was solved using the Hough transform. A method is proposed based on the solution of the classification method for constructing a three-dimensional model of the working stage. The research and the results of the obtained method are presented.