A self-localization method for stereo camera on the mobile robot

In order to determine the position of stereo camera on the mobile robot, whose motion center is unknown, a simple and effective method is proposed. No calibration equipment is needed. By extracting natural scene features based on non-maximal eigenvalue suppress and Harris corner detector, and matching them using grey level correlation and scene constrains, the space transformation relation between robot motion coordinate and stereo vision coordinate is calculated analytically. Accuracy and error analysis and experiments show that the total error is less than 1 cm and the self-localization process is rapid, so it can satisfy the requirements of objects tracking, 3D environment reconstruction and mapping via stereo vision.