Visual 3D Perception Method Based on the Monocular Single-Degree-of-Freedom Rotation

Aiming at realizing monocular 3D perception based on the motion parallax for the robot before its body starts to move, a visual 3D perception method based on the monocular single-degree-of-freedom rotation (V3PM-MSR) is proposed. The camera is fixed on the single-degree-of-freedom rotary platform, and the motion parallax is generated by the camera motion. The 3D coordinates of the object points are calculated by the derived principle of V3PM-MSR and the acquired input parameters of V3PM-MSR. In addition, the device is designed to achieve the transformation of V3PM-MSR from theory to practice. Finally, the experiment validates the effectiveness of V3PM-MSR and shows that the minimum relative error is 0.46%. It indicates that the monocular 3D perception based on the motion parallax for the robot can be effectively realized by V3PM-MSR before its body starts to move. Furthermore, the paper also has the application potential in the visual omnidirectional perception of the robot.