Virtual environment simulation for image processing sensor evaluation

This paper describes a simulation system designed to evaluate individual and integrated ITS sensors and control suites to be used on vehicles. It is capable of 3D environment simulation and scene generation for use as input to image processing systems, the simulation of complex six degree of freedom (X, Y, Z, roll, pitch, yaw) vehicle models, the generation of ground truth and simulated sensor outputs, and closed loop testing. The simulator can accept road geometry and terrain data as derived from GIS databases. It is implemented as a modular and extensible software simulation environment using distributed, multiprocess, networked software modules. The use of this simulation system in the testing and development of image processing sensors is illustrated