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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The cross-platform communication protocol declared in the above-mentioned invention patent applicatio

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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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[0053]The present invention is further illustrated in conjunction with specific embodiments. It will be appreciated that these examples are intended to illustrate the scope of the invention and are not intended to limit the scope of the invention. It will be appreciated that after reading the present invention, those skilled in the art can make various modifications or modifications of the present invention, which also fall in the scope of the claims appended claims.

[0054] Simulation Method ROS system suitable for the present invention Unity3D visual sensor provided by way Unity3D simulation, virtual environment to realize a vision sensor, and the actual communication with the ROS system is provided for the robot simulation test environment key technologies.

[0055] The present invention is applicable to the simulation method ROS visual sensor system in the Windows platform Unity3D Unity3D mainly by three-dimensional game engine (hereinafter simply referred to "Unity") and Lin...

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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 ...

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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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