Validating Vision and Robotic Algorithms for Dynamic Real World Environments
Validating Vision and Robotic Algorithms for Dynamic Real World Environments
复制标题
验证动态现实世界环境的视觉和机器人算法
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
B. Mertsching
中科院分区：
文献类型：
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作者：
Tobias Kotthäuser;B. Mertsching
适当的测试和验证的机会，强烈鼓励移动的机器人应用程序的复杂算法的有效开发。在本文中，我们提出了SIMORE（多机器人环境仿真），模拟传感器，执行器和整个机器人，在虚拟三维环境中的仿真框架。它提供合成的传感器数据，但也从给定的虚拟环境的内在属性发出的附加信息。SIMORE基于开源库构建，例如用于场景渲染的OpenSceneGraph工具包和Open Dynamics Engine，以保证可靠的物理行为。它提供了易于使用的建模工具和插件，用于创建和修改要包含在场景中的对象的外观以及动态属性。我们的仿真框架拥有一个基于模块的设计，能够支持进一步的扩展和增强，如个人传感器和执行器的定义。除此之外，SIMORE还为可用的机器人中间件应用程序（如Player或ROS）提供了示例性接口，允许在仿真和真实的硬件平台之间快速灵活地转换。尽管仍在积极开发中，但SIMORE用于支持机器人视觉、导航和识别方面的几项研究主张，并成为机器人竞赛（如Robocup（救援联赛））的成熟原型工具。
The efficient development of complex algorithms for mobile robot applications is strongly encouraged by appropriate testing and validation opportunities. In this paper, we present SIMORE (Simulation of Multirobot Environments), a simulation framework for simulating sensors, actuators and entire robots, in virtual 3D environments. It provides synthesized sensor data but also additional information emanating from the intrinsic properties of given virtual environments. SIMORE is built upon open-source libraries such as the OpenSceneGraph toolkit for scene rendering and the Open Dynamics Engine to guarantee a solid physical behavior. It provides easy to use modeling tools and plug-ins for creating and modifying the appearance as well as the dynamic properties of objects to be included in the scene. Our simulation framework possess a module based design capable of supporting further extensions and enhancements such as the definition of individual sensors and actuators. Beyond that, SIMORE offers exemplary interfaces for available robotic middleware applications, such as Player or ROS, allowing for a fast and flexible transition between simulation and real hardware platforms. Although still under active development, SIMORE is used to support several research propositions in robot vision, navigation and recognition as well as being a proven prototyping tool for robotic competitions, such as the Robocup (Rescue Ligue).
影响因子：
1
作者：
M. Shafik;B. Mertsching
通讯作者：
B. Mertsching
基于实时扫描线段的立体视觉，用于估计生物驱动的分类器细胞
DOI：
10.1007/978-3-642-04617-9_12
发表时间：
2009
期刊：
影响因子：
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作者：
M. Shafik;B. Mertsching
通讯作者：
B. Mertsching