Abstract: The principle of motion parallax is used for achieving the three-dimensional reconstruction
of scenes ahead with a single camera, and this process is expounded in detail by some geometric
operations. The application of the reconstruction in indoor automatic guided vehicle (AGV) about
processes of obstacle detection is researched. The traditional solution using some algorithms to divide
the real-time image passed back by the camera into some accessible areas is improved to make obstacle
information been of more authenticity and actual calculated meaning. Experimental results indicate that
the proposed solution is of strong operability and enhances the obstacle detection ability of indoor AGV
under the condition of a single camera, and has good robustness in different real environments.

Key words: motion parallax, three-dimensional reconstruction, automatic guided vehicle, obstacle
detection