深度视觉传感器虚拟仿真实验教学研究

Virtual Simulation Experimental Teaching Research of Deep Vision Sensor

实验教学是培养本科生实践和创新能力的重要手段。将虚拟仿真技术应用于传感器检测类课程的实验教学,对于教育发展具有极高的应用价值。文章基于LabVIEW虚拟仿真软件设计了移动机器人障碍物检测实验平台,在Kinect相机标定的基础上,经坐标转换与图像配准得到空间三维点云数据,能够实时显示彩色图像、深度图像与三维点云信息,可实现障碍物实时检测功能,有助于学生提升学习兴趣,加深对专业知识与实验原理的理解。

Experimental teaching is an important method to cultivate undergraduate students'practical and innovative ability.It has a very high application value for educational development to apply the virtual simulation technology to the experimental teaching of sensor and measurement technique courses.Based on the Lab VIEW virtual simulation software,this paper designs an experimental platform for the obstacle detection of mobile robots.By completing the Kinect-camera calibration,the proposed platform obtains the spatial 3D point-cloud data after the coordinate conversion and image registration,which can real-time display the color image,depth image and 3D points cloud information of the same scene,and realize the real-time obstacle detection function.This experimental platform is helpful to enhance students'interest in learning and deepen their understanding of professional knowledge and experimental principles.