Modeling Cameras for Autonomous Vehicle and Robot Simulation: An Overview
Modeling Cameras for Autonomous Vehicle and Robot Simulation: An Overview
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DOI：
10.1109/jsen.2021.3118952
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发表时间：
2021-11
影响因子：
4.3
通讯作者：
A. Elmquist;D. Negrut
中科院分区：
文献类型：
--
作者：
A. Elmquist;D. Negrut
仿真在机器人和自动驾驶车辆的开发和测试中变得越来越重要，因为它为在复杂和安全关键场景中快速探索候选导航、感知和传感器融合算法打开了大门。由于大多数机器人和自动驾驶车辆大量使用摄像头来感知周围环境，因此摄像头建模成为成功模拟这些自主代理的先决条件。本贡献概述了相机模型的使用环境；提供图像采集管道的逐个组件分析以及用于其建模的算法；最后讨论了数据驱动方法，这些方法包含了相机建模的不同视角。
Simulation is increasingly important in the development and testing of robots and autonomous vehicles as it opens the door for candidate navigation, perception, and sensor fusion algorithms to be expeditiously probed in complex and safety-critical scenarios. As most robots and autonomous vehicles make heavy use of cameras to perceive their surroundings, camera modeling becomes a prerequisite for the successful simulation of these autonomous agents. This contribution outlines the context in which camera models are used; provides a component-by-component analysis of the image acquisition pipeline along with algorithms used for its modeling; and closes with a discussion of data-driven approaches that embrace a different perspective on camera modeling.