作战机器人折反射全景视觉侦察技术

摘要

为满足作战机器人实时全景侦察的需要,研究折反射全景视觉侦察技术.建立了双曲面折反射全景视觉侦察系统模型,通过分析模型参数之间的关系获得成像系统参数关系式,分析了侦察距离与分辨率的关系.根据应用环境和当前技术水平对一些参数提出预设值,进而定量分析了成像系统各参数之间的关系,并进行了仿真和实验.结果表明,该技术可以实现对较远距离全景目标的侦察.%To meet the demands of real-time panoramic reconnaissance, the catadioptric panoramic vision was investigated. A model of hyperboloidal catadioptric panoramic vision was built, and equations of correlative parameters were obtained by analyzing their relations, the relationship between distance and resolution was analyzed. Some values of parameters were set according to the background and the present techniques to quantitatively analyze the relations among system parameters. Simulation and experiment were carried out. The results indicate that the targets in farther position can be detected by using this technique panoramically.