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中文摘要：
P＆T舵机视觉云台是摄像头可水平和垂直转动的视觉系统，视觉的可旋转性增大了可视范围；通过单目视觉三维重建原理与视觉转动角度的结合，可计算出不同转动角下目标物与机器人的距离；实验设计圆形区域，对不同转角下采集的图像进行分析，利用像平面到距离的转化，重绘了圆形区域边界，证明通过该算法机器人能获得全景视角；该算法在机器人比赛环境中，可以实现目标位置和本体位置的判断。
英文摘要：
P ＆ T steering engine optesthesia says that the platform is the camera shooting head but level and the optesthesia system that the perpendicularity turns, visual may revolution sex has enhanced but has looked at range. By the fact that only, eye optesthesia 3--D re- building principle and optesthesia turning the angle union, may calculate out turn the angle time of target thing and robotic different distance; The experiment designs circular area , the image collecting under the corner carries out analysis on diversity, make use of the conversion arriving at distance like the flat surface, weight has drawn circular area border; Be an algorithm＇s turn in robot competition environment , can realize target location and body location judgement.
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