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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Main Author: Zheng, Qichun
Other Authors: Xie Lihua
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2023
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Online Access:https://hdl.handle.net/10356/167187
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Institution: Nanyang Technological University
Language: English
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spelling 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
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
spellingShingle Engineering::Electrical and electronic engineering
Zheng, Qichun
Low-cost reality capture system for high-fidelity unreal engine based robot simulator
description 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
author_facet Xie Lihua
Zheng, Qichun
format Final Year Project
author Zheng, Qichun
author_sort 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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