With mobile robot being applied to military area、manufacturing and daily llife etc，it is an active and promising research area and attracts much more attention． Mobile robot’S localization and navigation based on stereo vision is becoming one of

Our world is three-dimensional, but camera image is two-dimensional, in order to obtain the three-dimensional information of objective object’s by the two-dimensional images, we need to rebuild the three-dimensional model of the target so that we