![]() visual inertial navigation research for fast and agile vehicles:.decoupling the dynamics modelling from the photo-realistic rendering engine.useful for rendering camera images given trajectories and inertial measurements from flying vehicles in real-world.can be seen as an extension of customary hardware-in-the-loop configurations.acquire the pose of the vehicle in real time.circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents.vehicle-in-the-loop simulation (use motion capture system).a quadrotor dynamics simulation implemented in C++.dynamic elements, such as moving obstacles, lights, vehicles, and human actors can be added.utilize position and orientation information of vehicle to simulate camera imagery and exteroceptive sensors, and to detect collisions (using polygon colliders).a photo-realistic rendering engine built on Unity.two separate components (modular architecture):.the beacons can be placed at static locations or on the moving objects.provide image-space measurements of IR beacons in the camera’s field of view.infrared radiation (IR) beacon sensors.a downward-facing single-point range finder for altitude estimation.parameters can be changed via API using ROS param or LCM config.camera projection model with optional motion blur, lens dirt, auto-exposure, and bloom.photo-realistic sensor simulator for perception-driven robotic vehicles.mainly made for autonomous driving research and only provides dynamics of ground vehicles.training an end-to-end control policy for quadrotor stabilization or flying through a fast moving gate). limited simulation speed, difficult to apply it to model-free RL tasks (e.g.Photo-realistic simulator built on Unreal Engine.used for autonomous mapping and navigation with rescue robots.Gazebo has limited rendering capabilities and is not designed for efficient parallel dynamics simulation.used for path-planning, mapping, exploration, etc.provides several quadrotors such as AscTec Hummingbird, Pelican, and Firefly.RotorS VS Hector VS AirSim VS CARLA VS FlightGoggles VS Flightmare quadrotor path-planning in a complex 3D environment. ![]()
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