Advanced Sensor Simulation In Virtual Testbeds: A Cost-Efficient Way to Develop and Verify Space Applications

Roßmann, Jürgen; Emde, Markus; Sondermann, Bjoern; Hempe, Nico

doi:10.2514/6.2011-7153

Cited by 10 publications

(4 citation statements)

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“…The results have been partly published in conference proceedings [129] [135] [128] [127] [276] [126] [279] [134] [125] [278] [272] [269] [273] [220] [274] [280] [268] as well as in journal articles [131] [130] [132] [133]. The results have been partly published in conference proceedings [129] [135] [128] [127] [276] [126] [279] [134] [125] [278] [272] [269] [273] [220] [274] [280] [268] as well as in journal articles [131] [130] [132] [133].…”

Section: Contributionmentioning

confidence: 99%

“…It is being used as a scientific software platform for many advanced research projects and intended as a modern robot-and VR simulation system. A broad range of essential simulation-specific components, like a sophisticated physics framework [158] and a flexible sensor simulation framework [272] [278] are also featured by the system, wich are capable to integrate real world and simulated sensors vital for mobile robotic-related developments. 3.28 shows a screenshot of a current VEROSIM development environment, which features a modern GUI to conveniently access and change data and properties of the semantic graph database.…”

Section: Integration Into An Existing Simulation Systemmentioning

confidence: 99%

“…With that goal in mind, a novel sensor simulation framework that is supported by the introduced rendering component has been developed [276] [279][278] [272]. Focusing on optical sensors, the virtual camera, which is simulated for traditional rendering, represents the basis of these approaches.…”

Section: Sensor Simulationmentioning

confidence: 99%

“…Since the successful launch and landing of the first planetary rover on the moon in 1970 (namely Lunokhod 1), rovers are an essential part of space exploration missions, which are too long, too dangerous or too costly for manned missions. A recent example is the tree-based localization framework developed for the SeekurJr robot, which was adapted to work with rocks in order to apply it as localization framework on the Mars surface [272][281] [279]. A major challenge is the distributed development of the components, the implementation of the algorithms as well as the testing.…”

Section: Planetary Rover Simulatormentioning

confidence: 99%

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Bridging the Gap between Rendering and Simulation Frameworks

Hempe

2016

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the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made.Printed on acid-free paper This Springer Vieweg imprint is published by Springer Nature The registered company is Springer Fachmedien Wiesbaden GmbH Dissertation RWTH Aachen, 2015 D 82 ForewordAfter nearly half a century of research, the Holy Grail of the field of computer graphics remains a comprehensive computational model and the corresponding software structure to provide realistically looking -and behaving -virtual world. However, Nico Hempe's work, documented in this thesis achieves nothing less than a functional and proven software structure to cope with the request for realism in the ever increasing complexity of today's robotic and mechatronic applications. Over the decades, modeling for computer simulation and visualization has progressed from an early reliance on purely geometric models to extremely powerful simulation models which also incorporate the underlying physical principles. Nico's is to date one of the most important PhD dissertations which manage to bridge the gap between advanced simulation and comprehensive rendering techniques by combining the best of both worlds to impressive virtual reality applications. His virtual worlds, which do not only look good but serve as the basis for virtual testbeds, are key components in new development approaches in the context of eRobotics and "Industry 4.0". Starting in 2010, Nico's work helped to establish the research field of eRobotics in order to cope with the inherent complexity, facilitate the development and significantly cut down the cost of advanced robotics and mechatronics applications. The objective is to effectively use electronic media -hence the "e" at the beginning of the term -to achieve the best possible advancements in the development of the robots' respective fields of use. Current domains of eRobotics covered by Nico's work comprise industrial robotics, work machines, construction site automation, space robotics and even the fields of environmental and city modelling. This thesis reveals the technical details behind a spectacular accomplishment in com...

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