摘要视觉系统是很多智能系统的核心组成部分。传统的立体视觉系统主要由两个相机组成，由于使用的两个相机不可能完全相同，这就给系统带来了一定的误差。相比之下，单相机全方位立体视觉系统具有价格低廉、结构简单和精度较高的特点。非常适合小型机器人的使用。因此，单相机立体视觉系统在机器人的小型化，精确化方面有很好地应用前景。67656

    本文以小型机器人的视觉系统为研究对象，通过比较分析各类全方位立体视觉系统的优缺点，提出一种新型视觉系统。考虑到小型机器人有效载荷较为有限，在系统设计时要尽量减少器件的数量且相互间要设计得紧凑些。同时，由于视觉系统的体积、质量和性能对整个小型机器人智能系统的性能有着很大影响，因此，对该视觉系统需要进行优化设计。

    本文通过MATLAB对系统参数进行求解，并以仿真软件POV-Ray提供的成像图像，对算法进行了测试，验证了上述算法的有效性

毕业论文关键词  全方位立体视觉 单相机 优化设计 

毕业设计说明书（论文）外文摘要

Title Optimized Design and Simulation of a Omni-stereo System

Abstract

 Omni-stereo system is the core component of intelligent systems like robots and so on. It has both advantages of the panoramic view and stereo vision, with the continuous development of robots and other intelligent systems, the stereo system requirements are also increasing. The conventional stere system composes two cameras. Due to the two cameras can not be exactly the same, which cause error of the system. In contrast, the single-camera omni-stereo system has a low cost, simple structure and high precision,which is very suitable for application on small robots. Accordingly, the single-camera omni-stereo system has a good application prospect in terms of miniaturization and precision of the robot.

 The single-camera catadioptric omni-stereo system built in this paper is comprised by hyperbolic mirror, hyperbolic-planar combined mirror and a conventional camera.This system is designed for application on MAV visual system. Taking payload limitation of the MAV into account, there are needs to minimize the number of devices and reduce space between devices as much as possible. At the same time, considering that the size, weight and performance of vision sensor have great influences on the whole intelligent systems, optimizing the design of the system is needed.

     In this paper, MATLAB is used to calculate the parameters of the system and and POV-Ray is used to display imaging results, validating the effectiveness of the algorithms.

Keywords: Omni-directional Stereo Vision, Field of View, Optimization      Design

1 引言 2

1.1 本课题的意义和背景 2

1.2 折反射全方位立体视觉技术的发展 2

1.3 本论文的主要内容 7

1.3.1 论文主要工作 7

1.3.2 论文结构安排 7

2 折反射全方位视觉系统基本理论 8

2.1 折反射全方位成像综述及其类型 8

2.2 单视点折反射系统的根据反射镜面形状不同的分类 9

2.2.1 平面镜 12

2.2.2 锥面镜 12

2.2.3 球面镜 13

2.2.4 椭球面镜