Semantic simulation engine in mobile robot operator training tool

Abstract

In the paper the semantic simulation engine and its role in multi level mobile robot operator training tool is described. Semantic simulation engine provides tools to implement mobile robot simulation based on real data delivered by robot observations in INDOOR environment. It is important to emphasize that real and virtual part of the training system is integrated. The supervision of real objects such as robots is performed by association with its virtual representation in the simulation, therefore events such as object intersection, robot pitch roll are defined. Semantic simulation engine is composed of data registration modules, semantic entities identification modules (data segmentation) and semantic simulation module. The data registration modules delivers 3D point clouds aligned with ICP (Iterative Closest Point) algorithm accelerated by parallel computation to obtain on-line processing. Semantic entities identification modules provide implementation of methods for obtaining semantic entities from robot observations (already registered). Semantic simulation module executes rigid body simulation with predefined simulation events. It is implemented using NVIDIA PhysX engine. The simulation can be easy integrated with real part of the system with an assumption of robust localization of real entities, therefore Augmented Reality capabilities are available. © 2011 Springer-Verlag.