在VC和opengcv的环境中显示URG04的数据采集，并对数据进行了处理，直线提取和地图匹配，自定位-To display data acquisition of URG04, in of VC and opengcv the environment in and processing the data, line extraction and map matching, self-positioning

左右视差图进行视差特征匹配，从而对物体进行三维空间的重建。-About parallax disparity map feature matching, and thus reconstruct three-dimensional objects.