In order to realize autonomous obstacle avoidance and trajectory correction in the process of robot movement

the three-dimensional reconstruction technology of environmental information based on stereoscopic vision in small scene are studied. MATLAB binocular camera calibration toolbox is used to calibrate the camera.The SGM algorithm is used to calculate the parallax graph of the left and right view of the camera

and the threedimensional point cloud information of the scene is obtained by using the principle of triangular distance measurement. In order to simplify the environment parameters

a three-dimensional contour extraction method based on the two-dimensional contour map is proposed. The accuracy of 3 D reconstruction is verified by template matching algorithm. In the MATLAB environment

the results show that the method is used to extract more accurately the 3 D contour in small scenes

which shows that the proposed method can provide reference for robot movement and its path planning.