Implementation of Binocular Stereo Matching in Virtual Environment and its Application in Manipulator Grasping

This paper presents a simulation method that uses a virtual binocular camera to accomplish binocular vision positioning algorithm, and uses the method to let the manipulator locate and grab a block in the simulation environment. The simulation process is run under CoppeliaSim. The intrinsic parameter matrix and extrinsic parameter matrix of the virtual camera were derived by simulating the binocular camera. The obtained scene pictures are processed by the SGBM algorithm to generate the point cloud and obtain the coordinates of the target point. The virtual camera model is based on the ZED2i, and the manipulator uses UR5.