Virtual Modeling

1
Virtual Modeling

• Simulation of a camera, placed on the robot
• Author Astapkovich Dmitry,
• d.astapkovich_at_creatstudio.com

2
Introduction

• At the present moment creating of autonomous
  robots with system of orientation based on
  computer vision becomes more and more actual.
• The key question is algorithm of image
  recognition, that needs to be tested on large
  sets of images.
• These sets can be created with systems of
  virtual modeling, that gives great variety of
  options and environments.
• In this presentation such a system is observed.

3
Content

• Problem description
• Requirements for modeling system
• Mathematical description
• Development shell
• System requirements
• System demonstration

4
Requirements for modeling

• The challenge was to build a system that can
  create sets of images, simulating robot movement
  on the polygon with some texture. List of
  requirements is following
• size and texture of the polygon must be easy
  changeable
• changeable number of cameras
• any camera can be tuned position, angle of view
• usage of content from photo and video cameras
• cheap and easy in understanding development
  software
• support of standard control devices (joystick)

5
Requirements for modeling

• Size is more than 200 square meters (15x15)
• Creating is expensive
• Changing is expensive

6
Modeling modes

• Free riding
• Trajectory recording/replaying
• Noise (camera shake)
• Image recording in real time (25 fps)

7
Mathematical description

• V Vmax?y,
• V velocity vector length
• Vmax maximum speed
• ?y ? axis divergence, -1 ?y 1.
• at1 at amax ?x,
• at1 direction in next frame
• at direction in current frame
• amax maximum angle change,
• ?? x axis divergence, -1 ?? 1

Pt1 Pt V Pt1 (x t1, y t1) position
in next frame Pt (x t, y t) - position in
currnet frame V velocity vector
8
Development shell

• System was created using Dark Basic, software
  for computer games development.
• Core features
• Powerful media support AVI, mp3/mp2, jpeg, gif,
  tga, png and more
• Built-in 3D Primitives
• External 3d files support in 3DS and XOF formats
• Animation support
• 2d effects mirror, stretch, blur, fade
• External game controllers support (joystick etc.)

9
System requirements

• Controller
• joystick Saltek ST90 for PC, USB 2.0, 2 axis, 2
  buttons
• Hardware
• OS Windows ??
• Processor Pentium IV 2.6 GHz
• RAM 1 Gb
• HDD 80 Gb
• Video Card ASUS GeForce FX 5700 256 Mb
• This configuration can give 25 fps in record
  mode with screen resolution 1024x768.

10
System demonstration
11
Contacts

• Email
• d.astapkovich_at_creatstudio.com
• damat_at_yandex.ru