Fig. 1. Schematic diagram of panoramic vision reconstruction of binocular camera

Fig. 2. Schematic of discrete difference

Fig. 3. Principle of Z axis projection

Fig. 4. Transformation principle of robot hand-eye system

Fig. 5. Flow chart of program

Fig. 6. Diagram of measurement system with dual cameras

Fig. 7. 3D reconstructed trajectory of target

Fig. 8. Fitting track of target point

Fig. 9. Number of poses corresponding to the curve segment

Fig. 10. Attitude comparison of different algorithms. (a) Debord recursive algorithm; (b) discrete difference projection algorithm

Fig. 11. Curve of the joint angle of robot

Fig. 12. Comparison of simulation and actual trajectory