Modularization based virtual vision sensor modeling and application

A virtual vision sensor is modeled as an independent and reusable module to emulate the real vision sensor. Parameters such as the field of view, resolution, position and rotation can be set, and real-time image acquisition is fulfilled. Apply this model to the 3D simulation environment. In home service robot simulation environment, one virtual vision sensor is mounted on the head of the robot and is used to search and localize a cup. Then another vision sensor is added to form a binocular stereo vision and is used to search and localize the cup again. These applications testify the validity of this model.