摘 要：基于立体视觉的激光测距仪是现测量领域的热点研究之一，在零件复制、地形勘查、人工智能和扫描空间等多个方面得到广泛的应用。激光测距技术具有被动性与非接触性的优点，当应用于工业生产检测中时，此技术可以产生巨大的效益，例如激光测距系统的精度高、速度快，而且测量范围也更加广，不仅可以测长度，还能够测量角度与面积等。
本题旨在利用ROS平台搭建SLAM的环境、使用Gazebo软件进行模拟仿真，设计出基于立体视觉的激光测距仪，在计算机内模拟仿真现实情况，实现了对物体的距离测量、扫描平面进行二维地图的创建以及实现平面监控的功能。该激光测距系统可以分为运动模块、地图创建模块和Rviz地图输出模块三大部分。
本课题设计的激光测距仪通过创建仿真环境的二维地图，实现了其对物体各属性的测量功能，测量数据包括距离、角度与面积等。同时，测距系统的视觉传感器采用价格较低的Kinect摄像头，可以在实际的应用中得到推广。
关键词：立体视觉；激光测距仪；ROS；GAZEBO；SLAM；
Abstract：The laser range finder based on stereoscopic vision is one of the hot research in the field of measurement. The three-dimensional depth information of an object is recovered by calculating the parallax of the space point under the same object on the image. Laser ranging technology has the advantages of passive and non-contact, when applied to industrial production testing, this technology can produce huge benefits, such as laser ranging system with high precision, fast, and the measurement range is more extensive, Not only can measure the length, but also be able to measure the angle and area.
This paper aims to use the ROS platform to build the SLAM environment, use the Gazebo software to simulate, design a stereo vision based laser range finder, simulate the reality of the situation in the computer to achieve the distance measurement of the object, the scanning plane for two The creation of the map and the realization of the function of plane monitoring. The laser ranging system can be pided into motion module, map creation module and Rviz map output module three parts.
In this paper, the laser range finder is designed to create a two-dimensional map of the simulation environment, which realizes the measurement function of the object's attributes. The measurement data include distance, angle and area. At the same time, the distance measurement system of the visual sensor using lower price Kinect camera, can be used in practical applications to be promoted.
Keywords: stereoscopic vision; laser range finder;ROS;GAZEBO;SLAM；
目录
第一章 绪论 1
1.1 研究背景 1
1.2 论文主要研究内容与组织结构 2
1.2.1 主要研究内容 2
1.2.2 设计步骤 4
1.2.3 章节安排 4
1.3 本章小结 4
第二章 ROS仿真环境介绍 5
2.1 ROS仿真环境 5
2.1.1 ROS的历史与现状 5
2.1.2 ROS的目标和特点 5
2.1.3 ROS的系统基本概念 6
2.1.4 Gazebo 8
2.2 本章小结 8
第三章 立体视觉基本理论 9
3.1 相机的成像模型以及基本理论 Gazebo基于立体视觉的虚拟激光测距仪设计+源程序:http://www.chuibin.com/tongxin/lunwen_206558.html