A VIRTUAL REALITY SIMULATOR FOR ACTIVE STEREO VISION SYSTEMS

摘要

Binocular vision. Active fixation. Virtual reality. Ground truth data. The virtual reality is a powerful tool to simulate the behavior of the physical systems. The visual system of a robot and its interplay with the 3D environment can be modeled and simulated through the geometrical relationships between the virtual stereo cameras and the virtual 3D world. The novelty of our approach is related to the use of the virtual reality as a tool to simulate the behavior of active vision systems. In the standard way, the virtual reality is used for the perceptual rendering of the visual information exploitable by a human user. In the proposed approach, a virtual world is rendered to simulate the actual projections on the cameras of a robotic system, thus the mechanisms of the active vision are quantitatively validated by using the available ground truth data. 1