Simulation of cameras in robot applications

摘要

A method for simulating a camera for use in robot applications is described. The approach shows the physical modelling, based on a geometric model, of the camera, the light sources and the objects within the scene. Many parameters of the physical model can be adjusted to obtain simulation results close to reality. An example shows the simulation of a CCD (charge-coupled device) camera and a scene with workpieces taken from the 'European benchmark'.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>