Cg: a system for programming graphics hardware in a C-like language
ACM SIGGRAPH 2003 Papers
Evaluation of Visual Attention Models for Robots
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Conditional Random Field for 3D Point Clouds with Adaptive Data Reduction
CW '07 Proceedings of the 2007 International Conference on Cyberworlds
Fast Saliency-Based Motion Segmentation Algorithm for an Active Vision System
ACIVS '08 Proceedings of the 10th International Conference on Advanced Concepts for Intelligent Vision Systems
YARS: A Physical 3D Simulator for Evolving Controllers for Real Robots
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
KI'09 Proceedings of the 32nd annual German conference on Advances in artificial intelligence
Knowledge-driven saliency: attention to the unseen
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
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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).