Dynamic object recognition and localization of mobile robot based on binocular vision

A realtime dynamic object recognition and localization method is presented for mobile robot using binocular vision. Firstly, the SIFT operator is applied to object features extraction and object matching with the disparity features of binocular vision. Then, the object area is extracted through region growing method. Finally, according to the binocular vision calibration model, the object′s location is obtained. Experiments show that in the case of both camera moving and object moving, the proposed method can effectively recognize and locate the dynamic object with unknown or obscure object local feature.