Realization of convergent binocular vision algorithm for guiding robot localization

The processing quality of large-sized intricate components relies on the accuracy of vision-guided robot positioning. To address the drawbacks of current parallel binocular cameras and intricate scanning-reconstruction algorithms, this study introduces a convergent binocular stereo vision algorithm. This algorithm enables automatic calibration, feature correspondence, and the extraction of spatial positional details for marker points. It transforms data into the robot base coordinate system, rectifies the workpiece 3D model, and designs the motion trajectory for robot positioning. Tests on a ceramic block and a rail demonstrate that the average positioning error is within 4%, and the algorithm has merits in terms of precision and operational speed.