Title :
Architecture of a 3D-simulation environment for active vision systems and mobile robots
Author :
Baudry, Andreas ; Bungenstock, Michael ; Mertsching, Bärbel
Author_Institution :
Dept. of Informatics IMA Lab, Hamburg Univ., Germany
Abstract :
Working with active vision-systems, users often have to simulate particular environments in which they can undertake experiments with virtual sensors. In such artificial environments all parameter settings have to be fully controllable. Thus a simulation framework based on a component-oriented concept will be proposed in order to facilitate the integration of arbitrary simulation modules, e.g. particular sensors, environmental artifacts and even additional platforms for robots. The introduced system aims at enabling visual simulation state-monitoring. It also provides interfaces which are identical to those of hardware platforms already in use. This ensures that existing active vision or robotic applications can use the simulator in the same way. Although it is not intended to replace the real system completely, this application does represent an important addition to the system for both research and teaching purposes.
Keywords :
active vision; digital simulation; mobile robots; 3D-simulation environment architecture; active vision systems; arbitrary simulation modules; artificial environments; component oriented concept; environmental artifacts; mobile robots; parameter settings; virtual sensors; Actuators; Application software; Cameras; Grippers; Hardware; Image sensors; Machine vision; Mobile robots; Robot sensing systems; Robot vision systems;
Conference_Titel :
3D Data Processing Visualization and Transmission, 2002. Proceedings. First International Symposium on
Print_ISBN :
0-7695-1521-4
DOI :
10.1109/TDPVT.2002.1024063