多视图全向视觉和结构光用于高精度映射和重建
Qihui Guo1, Maksim A Grigorev1, Zihan Zhang1
1Department of Electric Drive, Mechatronics and Electromechanics, South Ural State University, Chelyabinsk 454080, Russia.
Sensors (Basel, Switzerland)
|October 29, 2025
概括
我们为全方位视觉系统创建了一个虚拟模拟,改进了障碍物重建和距离估计. 这个平台为机器人研究提供了一个经济有效和安全的替代物质测试台.
科学领域:
- 机器人和计算机视觉 机器人和计算机视觉
背景情况:
- 全方位视觉对于自主导航和绘图至关重要.
- 物理测试台用于全方位视觉是昂贵的,有风险的和低效的.
研究的目的:
- 开发一个灵活的虚拟模拟平台,用于多视图全向视觉.
- 提出和验证一种使用融合万向图像和结构光投影的新型重建和测距方法.
主要方法:
- 开发一个跨平台的虚拟模拟环境,用于通向视觉.
- 实现一种融合方法,将多视图全向图像与结构光投影相结合.
- 通过在模拟和现实环境中的实验验证.
主要成果:
- 实现了高精度的障碍物轮重建和距离估计.
- 在现实世界的实验中,证明距离误差在8毫米以内.
- 在各种相机配置中展示了强大的性能.
结论:
- 虚拟模拟平台为全方位视觉研究提供了实用和高效的解决方案.
- 拟议的融合方法可以在没有复杂的硬件或校准的情况下实现准确的3D感知.
- 该平台促进自主系统的成本效益高的开发和测试.
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