3D modeling of task space for tele-robotic welding based on stereo vision

In order to overcome the disadvantage of the human tele-operation, there is need to improve the intelligence level of the tele-robotic welding system.Accurate 3D modeling of the task space is the essential foundation for telerobotic planning, motion control and other automatic function.Stereo vision is employed for task space analysis and 3D reconstruction of telerobotic welding. Stereo matching is accomplished by man-machine interaction combined with subpixel corner feature detection algorithm, in which the Harris corner is first detected then the subpixel refine is made.So that the complicated calculation and low robustness of the automatic visual modeling algorithm is avoided.The experimental 3D reconstruction results of task space have shown the validity of the technique.