相关论文: A physics-based sensor simulation environment for …
The focus of this contribution is on camera simulation as it comes into play in simulating autonomous robots for their virtual prototyping. We propose a camera model validation methodology based on the performance of a perception algorithm…
We present a controllable camera simulator based on deep neural networks to synthesize raw image data under different camera settings, including exposure time, ISO, and aperture. The proposed simulator includes an exposure module that…
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's Smoothed Particle Hydrodynamics (SPH)…
The development, benchmarking and validation of aerial Persistent Surveillance (PS) algorithms requires access to specialist Wide Area Aerial Surveillance (WAAS) datasets. Such datasets are difficult to obtain and are often extremely large…
Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for…
We describe an open-source simulator that creates sensor irradiance and sensor images of typical automotive scenes in urban settings. The purpose of the system is to support camera design and testing for automotive applications. The user…
Several physical mechanisms are involved in excavating granular materials beneath a vertical jet of gas. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. A series of experiments and…
Synthetic Lunar Terrain (SLT) is an open dataset collected from an analogue test site for lunar missions, featuring synthetic craters in a high-contrast lighting setup. It includes several side-by-side captures from event-based and…
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots,…
It has been previously shown that moons of extrasolar planets may be detectable with the Kepler Mission, for moon masses above ~0.2 Earth masses Kipping et al. 2009c. Transit timing effects have been formerly identified as a potent tool to…
The integration of vision-based frameworks to achieve lunar robot applications faces numerous challenges such as terrain configuration or extreme lighting conditions. This paper presents a generic task pipeline using object detection,…
Autonomous driving system development is critically dependent on the ability to replay complex and diverse traffic scenarios in simulation. In such scenarios, the ability to accurately simulate the vehicle sensors such as cameras, lidar or…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…
Humans and robots will need to collaborate in order to create a sustainable human lunar presence by the end of the 2020s. This includes cases in which a human will be required to teleoperate an autonomous rover that has encountered an…
JUNO is a multipurpose neutrino experiment which is designed to determine neutrino mass hierarchy and precisely measure oscillation parameters. As one of the important systems, the JUNO offline software is being developed using the SNiPER…
Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…
Spacecraft autonomy can be enhanced by vision-based navigation (VBN) techniques. Applications range from manoeuvers around Solar System objects and landing on planetary surfaces, to in-orbit servicing or space debris removal. The…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…