vSlam experiments in a custom simulated environment

摘要

In order to perform vSLAM experiments, a camera capturing information along a certain path is necessary. What if the resources to execute this are not available or a proof of concept is needed before a real application? This paper describes a simple method of combining MATLAB and Blender to perform vSLAM experiments in a custom created environment. A virtual robot and camera are created to navigate through the simulated space to capture textured images and objects that are used for the image processing. The images or video created by Blender can be easily processed by MATLAB as shown in this work. In addition, a simple application is demonstrated in the experiments section.