The Vision Inspection and Three-dimensional Reconstruction with the Target Compound of Hedge Pruning Mobile Robot

We proposed the restorative method of the plane three-dimensional coordinates based on the visual and ultrasonic sensors, through the analysis of the characteristics of highway central partition belt and to direct at the hedge pruning robot system we were studying. The vision inspection system of hedge trimming mobile robot mainly consisted of cameras, ultrasonic sensors and image capture cards. The calibration data was obtained by using united calibration of cameras and ultrasonic sensors. We gave the installation diagram of moving body, camera and ultrasonic sensor for visual inspection system of hedge pruning mobile robot. The data was obtained by segmentation algorithm based on the color of the operational objectives and the recovery method from image three-dimensional data, so the reconstructive three-dimensional data was given.