面向室外自然环境的移动机器人视觉仿真系统-中国科技论文在线.PDF

18 3 系 统 仿 真 学 报© Vol. 18 No. 3 第 卷第 期 2006 年 3 月 Journal of System Simulation Mar. ， 2006 面向室外自然环境的移动机器人视觉仿真系统 张浩峰，赵春霞，王晓丽，李白云，成伟明，刘华军 （南京理工大学计算机科学与技术系，江苏 南京 210094 ） 摘 要：基于视觉传感器的道路跟踪、导航是移动机器人自主行驶的重要组成部分。主要是对二维 视觉传感器 CCD 彩色摄像机、三维视觉传感器激光雷达、以及立体视觉进行了仿真。通过设定 OpenGL中基于针孔摄像机模型视锥的各项参数、截取并保存屏幕象素来实现摄像机仿真；利用射 线跟踪的方法进行激光雷达的仿真；通过提取地形数据的方法进行立体视觉的仿真。该仿真系统 能够比较真实的反映移动机器人在行进过程中的传感器数据获取情况，利用该系统可以很好的为以 后的模块如融合和规划提供仿真实验数据。 关键词：移动机器人；摄像机仿真；激光雷达仿真；射线跟踪；立体视觉仿真 中图分类号：TP391.9 文献标识码：A 文章编号：1004-731X(2006)03-0701-05 Outdoor Natural Environment Oriented Vision Simulation System of Mobile Robot ZHANG Hao-feng, ZHAO Chun-xia, WANG Xiao-li, LI Bai-yun, CHENG Wei-ming, LIU Hua-jun (Computer Science Department, Nanjing University of Sci. Tech. Najing 210094, China) Abstract: Vision based road following and navigation are important parts of intelligent mobile robot. CCD Color Camera, Laser Radar, and Stereo Vision were researched and simulated. CCD Camera was simulated through setting the parameters of view volume in OpenGL, intercepting and saving the pixels of the screen. Ray-tracing method was used to simulate the Laser Radar, and by acquiring the data from the scene, Stereo Vision was simulated. The system is able to simulate the acquired data of sensors truly when mobile robot is moving. Using the data provided by the system, the algorithms of fusion and plan modules were able to be designed. Key words: mobile robot; camera simulation; Laser radar simulation; ra