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Unity3D visual sensor simulation method suitable for ROS system

A technology of visual sensors and simulation methods, applied in 3D modeling, instruments, video games, etc., can solve problems such as insufficient content and poor applicability, and achieve the effect of improving the sense of reality and solving data interaction problems

Pending Publication Date: 2022-02-08
上海机器人产业技术研究院有限公司 +1
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  • Abstract
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Problems solved by technology

The cross-platform communication protocol declared in the above-mentioned invention patent application only includes robot control instructions, which is insufficient in content and poor in applicability

Method used

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  • Unity3D visual sensor simulation method suitable for ROS system
  • Unity3D visual sensor simulation method suitable for ROS system
  • Unity3D visual sensor simulation method suitable for ROS system

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Embodiment Construction

[0053]Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0054] The present invention provides a simulation method for visual sensors under Unity3D that is suitable for ROS systems. Through Unity3D simulation, a visual sensor in a virtual environment is realized, and communicates with the actual ROS system, providing a robot simulation test environment. Key technical methods.

[0055] The simulation method of the visual sensor under the Unity3D that the present invention is applicabl...

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Abstract

The invention provides a Unity3D visual sensor simulation method suitable for an ROS system. A visual sensor in a virtual environment is realized through a Unity3D simulation mode, the visual sensor is communicated with the actual ROS system, and a key technical method is provided for a robot simulation test environment. According to the invention, by adding selectable image noise, interference data such as noisy points occurring in a real camera are simulated, and the sense of reality of a simulation camera is improved. By processing and encoding RGB image data, ROS sensor data in an Image format is generated, the ROS sensor data comprises complete unprocessed RGB image data, and RGB original data simulation of an RGB camera in Unity 3D is achieved. According to the method, ROS sensor data in a CompressedImage format is generated through compression and coding of the RGB image data, and RGB compressed data simulation of the RGB camera in the Unity 3D is achieved.

Description

technical field [0001] The invention relates to a simulation method of a visual sensor under Unity3D applicable to a ROS system, and provides a key technical method for a robot simulation test environment. Background technique [0002] As an open source robot operating system platform, ROS is widely used in the service robot industry with its active ecological community. When studying the algorithm of a robot, it is often necessary to test its function and performance in different environments. However, due to space and resource constraints, it is impossible to provide such an arbitrary changing place at any time, so a virtual simulation environment is the best solution for robot algorithm evaluation. [0003] The Chinese patent application with application number 201810021768.5 discloses a robot cross-platform communication protocol and control method. The invention patent application uses Unity3D, ROS-bridge and ROS systems to realize a robot cross-platform communication ...

Claims

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Application Information

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IPC IPC(8): A63F13/525A63F13/60G06T17/00G06T19/20
CPCA63F13/525A63F13/60G06T17/00G06T19/20
Inventor 沈文婷王赓郑军奇蒋李康
Owner 上海机器人产业技术研究院有限公司
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