Simulation and testing system of vision-based tracking robot

This paper describes a simulation and testing system for vision-based tracking robot (VTR). This system is a closed loop testing system which can be used both for the simulation demo and semi-physical testing. It includes visual image simulator, tracking algorithm simulator and robotic arm simulator. This system is implemented with FPGA which will assure the simulation sequence. The system provides with virtual image sequence through the application programming interface and all modules communicated with each other by data interface. To meet the higher requirements of simulation system for real-time visual feedback, a new method of real-time image simulation based on panorama is introduced in this paper. In the end of this paper, test indexes are introduced which illustrate the performance of the VTR.