Calibration and three-dimensional reconstruction with a photorealistic simulator based on the omnidirectional vision system

International Journal of Advanced Robotic Systems

article

Ivan Kholodilin¹  Yuan Li¹  Qinglin Wang¹  Paul David Bourke² 

[1] State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology;Faculty of Arts, Business, Law and Education, School of Social Sciences Office, The University of Western Australia

关键词: Calibration;    measurements;    omnidirectional vision;    simulation;    structured light;   

DOI  :  10.1177/17298814211059313

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Recent advancements in deep learning require a large amount of the annotated training data containing various terms and conditions of the environment. Thus, developing and testing algorithms for the navigation of mobile robots can be expensive and time-consuming. Motivated by the aforementioned problems, this article presents a photorealistic simulator for the computer vision community working with omnidirectional vision systems. Built using unity, the simulator integrates sensors, mobile robots, and elements of the indoor environment and allows one to generate synthetic photorealistic data sets with automatic ground truth annotations. With the aid of the proposed simulator, two practical applications are studied, namely extrinsic calibration of the vision system and three-dimensional reconstruction of the indoor environment. For the proposed calibration and reconstruction techniques, the processes themselves are simple, robust, and accurate. Proposed methods are evaluated experimentally with data generated by the simulator. The proposed simulator and supporting materials are available online: http://www.ilabit.org .

【 授权许可】

CC BY