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1 March 1992 Computer-graphics-based approach to range sensor simulation
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A technique for simulating ultrasonic and laser range transducers is described in this paper. The purpose of this work is to develop a means whereby sensor data can be artificially replaced by simulated data so that navigation and path planning algorithms can be tested off- line. It is important that the simulated range data be generated in real time. Further, the simulation must display actual sensor characteristics such as reflectance. The simulation was implemented on a silicon graphics workstation by utilizing the Z-buffer hardware incorporated in the system. The technique is explained in the paper together with a brief discussion of results.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Carl D. Crane III "Computer-graphics-based approach to range sensor simulation", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992);

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