LNAI 3020 CD-ROM

Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics

Kazunori Asanuma¹, Kazunori Umeda¹, Ryuichi Ueda², and Tamio Arai²

¹Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
asanuma@sensor.mech.chuo-u.ac.jp
umeda@sensor.mech.chuo-u.ac.jp
http://www.mech.chuo-u.ac.jp/umedalab/

²The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
ueda@prince.pe.u-tokyo.ac.jp
arai@prince.pe.u-tokyo.ac.jp
http://www.arai.pe.u-tokyo.ac.jp/

Abstract. In this paper, a simulator of environment and measurement that considers camera characteristics is developed mainly for RoboCup four legged robot league. The simulator introduces server/client system, and realizes separation of each robot’s information, introduction of each robot’s difference and distribution of processes. For producing virtual images, the simulator utilizes OpenGL and considers the effects of blur by lens aberration and so on, random noise on each pixel, lens distortion and delayed exposure for each line of CMOS device. Some experiments show that the simulator imitates the real environment well, and is a useful tool for developing algorithms effectively for real robots.

Keywords: Simulator of Environment and Measurement, CameraModel, Modeling of Measurement Error, Server/Client System

LNAI 3020, p. 446 ff.

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