NRI: Small: Virtualized Robot Test and Integration Laboratory

虚拟机器人测试和集成实验室（VRTIL）解决了使用真实传感器产生的真实数据验证机器人软件的需求，这些数据丰富而不完善。该项目将机器人软件嵌入到一个合成环境中，以模拟其传感器接口。在目前的技术水平上，这些接口是数据库的窗口，存储了机器人在特定状态下读取的实际传感器数据。该项目的目标是使用数据尽可能准确地再现现实世界的界面。有两个基本工具可以实现这种虚拟化？*虚拟现实提供了一种方法，可以从接近实际视点的虚拟视点生成合成视图，而实际视点可以获得真实图像；*高保真合成运动收集大量数据，以校准在所有状态空间有效的模型。将这些想法结合起来，将产生一个机器人软件的软件测试环境，它具有数据日志的现实性和模拟器的响应性。通过降低测试和调试的成本和时间，这可能会从根本上改变机器人的发展。

The Virtual Robot Test and Integration Laboratory (VRTIL) addresses the need to verify robot software using real data, produced by real sensors, in all its richness and imperfection. The project is embedding robot software in a synthetic environment in order to mimic its sensor interfaces. In an advance over the state of the art, these interfaces are windows into data bases that store the actual sensor data that a robot did read when it was in a particular state.The project goal is to reproduce the real world interface as exactly as possible using data. Two basic tools enable such ?virtualization? of a real robot in a real environment:* Virtualized reality provides a means to produce synthetic views from virtual viewpoints that are near to an actual viewpoint for which a real image is available;* High fidelity synthesized motion gathers large amounts of data to calibrate a model that is valid across all of state space.Combining these ideas will result in a software test environment for robot software that has the realism of data logs and the responsiveness of a simulator. This may fundamentally transform the development of robots by lowering the cost and time of testing and debugging.