Low-cost reality capture system for high-fidelity unreal engine based robot simulator
Testing algorithms for robots and unmanned aircraft can be costly and even dangerous. Simulators can be used to provide a virtual environment for efficient and safe testing. Realistic reproductions of the real world are preferred when building the simulators, as they can help to minimize the efforts...
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sg-ntu-dr.10356-1671872023-07-07T15:42:38Z Low-cost reality capture system for high-fidelity unreal engine based robot simulator Zheng, Qichun Xie Lihua School of Electrical and Electronic Engineering ELHXIE@ntu.edu.sg Engineering::Electrical and electronic engineering Testing algorithms for robots and unmanned aircraft can be costly and even dangerous. Simulators can be used to provide a virtual environment for efficient and safe testing. Realistic reproductions of the real world are preferred when building the simulators, as they can help to minimize the efforts required to migrate from simulators to actual robots. Currently, the environments in simulators are mostly made by expensive manual modelling. This project aims to provide a high-fidelity reality capture system at a low cost that is essential for developing control algorithms. The proposed reality capture system should meet two key requirements: (1) reproduce a realistic environment, and (2) at a reasonable cost. This project utilizes a Light Detection and Ranging (LiDAR) sensor, a camera, and an Inertial Measurement Unit (IMU). The components were assembled to form a handheld scanner. The data collected by the sensors were processed by multiple software to produce the desired format as the virtual environment for simulators. Finally, a sample simulator was created to verify the entire process. The main contributions of this project are (1) the use of affordable sensors for data collection, (2) the process to convert raw data to meshes, and (3) the acceptable quality of the virtual environment. Bachelor of Engineering (Electrical and Electronic Engineering) 2023-05-24T05:13:49Z 2023-05-24T05:13:49Z 2023 Final Year Project (FYP) Zheng, Q. (2023). Low-cost reality capture system for high-fidelity unreal engine based robot simulator. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/167187 https://hdl.handle.net/10356/167187 en A1143-221 application/pdf Nanyang Technological University |
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Engineering::Electrical and electronic engineering Zheng, Qichun Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
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Testing algorithms for robots and unmanned aircraft can be costly and even dangerous. Simulators can be used to provide a virtual environment for efficient and safe testing. Realistic reproductions of the real world are preferred when building the simulators, as they can help to minimize the efforts required to migrate from simulators to actual robots. Currently, the environments in simulators are mostly made by expensive manual modelling. This project aims to provide a high-fidelity reality capture system at a low cost that is essential for developing control algorithms. The proposed reality capture system should meet two key requirements: (1) reproduce a realistic environment, and (2) at a reasonable cost. This project utilizes a Light Detection and Ranging (LiDAR) sensor, a camera, and an Inertial Measurement Unit (IMU). The components were assembled to form a handheld scanner. The data collected by the sensors were processed by multiple software to produce the desired format as the virtual environment for simulators. Finally, a sample simulator was created to verify the entire process. The main contributions of this project are (1) the use of affordable sensors for data collection, (2) the process to convert raw data to meshes, and (3) the acceptable quality of the virtual environment. |
author2 |
Xie Lihua |
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Xie Lihua Zheng, Qichun |
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Final Year Project |
author |
Zheng, Qichun |
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Zheng, Qichun |
title |
Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
title_short |
Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
title_full |
Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
title_fullStr |
Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
title_full_unstemmed |
Low-cost reality capture system for high-fidelity unreal engine based robot simulator |
title_sort |
low-cost reality capture system for high-fidelity unreal engine based robot simulator |
publisher |
Nanyang Technological University |
publishDate |
2023 |
url |
https://hdl.handle.net/10356/167187 |
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1772825302930554880 |