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RoboCup Advanced 3D Monitor
Carla Penedo, João Pavão, Pedro Nunes, and Luis Custódio
Instituto de Sistemas e Robótica, Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugalccfp@rnl.ist.utl.pt
jpp@rnl.ist.utl.pt
pmgn@rnl.ist.utl.pt
lmmc@isr.ist.utl.pt
Abstract. RoboCup Advanced 3D Monitor is a three-dimensional application for visualizing and debugging games of the RoboCup Soccer Simulation League. This paper discusses the issues pertaining the implementation of this monitor using OpenGL, a standard API for rendering high-performance 3D graphics. Our application provides a true 3D soccer game experience maintaining a healthy balance of realistic animation features and high-speed rendering achieved by the implementation of specific computer graphics techniques. Besides its main usefulness as a visualization tool, this monitor may be used as a supporting tool for the development of other robotics techniques. To illustrate this, two of such techniques are discussed here: sensor fusion and Markov localization methods.
Keywords: three-dimensional monitor, simulation league, levels of detail, markov localization, sensor fusion.
LNAI 3020, p. 637 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004