Abstract—Multi-domain VR simulation systems provide a framework to bring together various modules in order to fulfill all desired tasks; however, rendering capabilities have mostly been neglected in these systems due to economic aspects or technical limitations. In this contribution, we will present the concepts of eRobotics, which have been motivated by the demand for a holistic and comprehensive multi-purpose tool for the application in a wide range of domains dealing with robotics. We will show how realistic virtual environments as well as the close interplay between rendering and simulation modules can bring simulation results closer to those achieved in real world setups. In particular, the simulation of various optical sensors like digital camera systems, laser range scanners (LiDAR) and time-of-flight (ToF) cameras can benefit from these developments to further shift costly and time-consuming physical prototypes to the end of the development process.
Index Terms—VR simulation system, sensor simulation, real-time computer graphics, eRobotics.
The authors are with Institute for Man-Machine Interaction at the RWTH Aachen University, Aachen, Germany (e-mail: hempe@mmi.rwth-aachen.de, rossmann@mmi.rwth-aachen.de).
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Cite: Nico Hempe and Jürgen Roßmann, "Implementing the eRobotics Approach by Combining Advanced Rendering Techniques and Complex Simulations in a Modern, Multi-domain VR Simulation System," International Journal of Modeling and Optimization vol. 5, no. 4, pp. 268-272, 2015.
