Advanced computer graphic techniques for laser range finder (LRF) simulation

Janusz Bedkowski; Stanislaw Jankowski

doi:10.1117/12.817953

6 November 2008 Advanced computer graphic techniques for laser range finder (LRF) simulation

Janusz Bedkowski, Stanislaw Jankowski

Proceedings Volume 7124, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2008; 71240O (2008) https://doi.org/10.1117/12.817953
Event: Photonics Applications in Astronomy, Communications, Industry, and High Energy Physics Experiments 2008, 2008, Wilga, Poland

Abstract

This paper show an advanced computer graphic techniques for laser range finder (LRF) simulation. The LRF is the common sensor for unmanned ground vehicle, autonomous mobile robot and security applications. The cost of the measurement system is extremely high, therefore the simulation tool is designed. The simulation gives an opportunity to execute algorithm such as the obstacle avoidance[1], slam for robot localization[2], detection of vegetation and water obstacles in surroundings of the robot chassis[3], LRF measurement in crowd of people[1]. The Axis Aligned Bounding Box (AABB) and alternative technique based on CUDA (NVIDIA Compute Unified Device Architecture) is presented.

Citation Download Citation

Janusz Bedkowski and Stanislaw Jankowski "Advanced computer graphic techniques for laser range finder (LRF) simulation", Proc. SPIE 7124, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2008, 71240O (6 November 2008); https://doi.org/10.1117/12.817953

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