论文标题
rmagine：通过嵌入式硬件在移动机器人上的射线缩放中的多边形图中的3D范围传感器仿真
Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Raytracing for Embedded Hardware on Mobile Robots
论文作者
论文摘要
传感器仿真已成为一种有前途且强大的技术，可以找到许多现实世界机器人任务（例如本地化和姿势跟踪）的解决方案。但是，常用的模拟器具有较高的硬件要求，因此主要用于高端计算机。在本文中，我们提出了一种方法，可以直接在使用三角形网格作为环境图的移动机器人的嵌入式硬件上模拟范围传感器。该库称为rmagine允许机器人直接通过射线跟踪模拟传感器数据为任意范围传感器。由于机器人通常只有有限的计算资源，因此Rmagine的目标是灵活和轻巧，同时甚至可以在大型环境图上扩展。它通过将统一的API放在硬件制造商提供的特定专有库上，将统一的API放置在诸如NVIDIA JETSON之类的嵌入式计算板等多个平台上。这项工作旨在根据范围数据的模拟来支持机器人应用程序的未来开发，而这些数据以前在移动系统上不合时宜地计算出来。
Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on embedded hardware of mobile robots that use triangle meshes as environment map. This library called Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, the Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems.
