本論文之主要研究目標是建立移動式機器人雙眼視覺系統，使機器人具有三維空間的距離感測能力。透過校正找出兩個相機的內部矩陣及外部參數，可以得知相機的內部幾何關係以及空間中的擺放位置。 利用雙眼視覺的影像處理找出具有相同特徵點的目標物，再根據極線幾何限制條件檢查是否為相同點。然後利用三角成像的原理將目標物的三維座標位置計算出來，並經由座標系統的轉換計算出目標物與機器人間的距離。最後成功的控制機器人將目標物夾取並其放入放置桶內。

The purpose of this thesis it to build a binocular vision system for a mobile robot such that the robot has 3-dimension range detection ability. By calibrating the intrinsic and the extrinsic parameters of two cameras, one can acquire inside geometry information and spatial relationship of the cameras. The binocular image processing system is used to find out the same feature points of objects, and then to check whether they are the same or not based on the epipolar geometry constrain. The next step is to calculate the 3-dimention coordinate of the object by the triangular perspective theory, and to compute the distance between the robot and the object. Finally, the robot successfully grabs the object and then puts it into a target can.

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