Architecture of a 3D-simulation environment for active vision systems and mobile robots

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.