3D Model Generation for Robot Simulation
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Solution Overview
Problem
Current technologies for reproducing environmental information in robot simulators fail to consider physical characteristics such as gravity and friction, leading to imprecise simulations when objects are modeled based on error-prone real-world data.
Innovation Solution
A model generation apparatus that extracts objects from 3D image information, edits object models to conform with size and placement information, and disposes them on a 3D model to satisfy physical constraints like gravity and friction, ensuring accurate simulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If objects are disposed based on error-prone real-world sensing information, then the modeling process is simple, but the simulation precision deteriorates due to ignored physical characteristics
Solution Approach 1:
The system performs preliminary actions by automatically detecting objects, determining their physical characteristics (mass, friction, volume), and calculating disposition information before actual simulation. This preliminary processing ensures that physical constraints are pre-established, resolving the contradiction by preparing accurate physical models in advance rather than requiring complex manual modeling during simulation setup
Solution Approach 2:
The system enables self-service by allowing objects to automatically determine their own disposition information based on their detected physical characteristics and the simulated environment. Each object independently calculates its position, orientation, and physical parameters, eliminating the need for external manual configuration and reducing modeling complexity while maintaining high simulation precision
2Reliability
If physical characteristics are considered in object disposition, then contact and collision effects are reproduced accurately, but the processing complexity increases
Solution Approach 1:
The system replaces complex mechanical calculation systems with information processing methods. Instead of performing complex real-time physics calculations, the system uses pre-detected physical characteristics and information processing algorithms to determine object dispositions, maintaining simulation reliability while reducing processing complexity through computational efficiency
Solution Approach 2:
The system changes parameters by using detected physical characteristics (mass, friction, volume) as input parameters for disposition calculations. By transforming the problem from complex mechanical interaction analysis to parameter-based disposition determination, the system maintains accurate contact and collision effects while simplifying the overall processing complexity
3Productivity
If simple object placement is used without physical constraints, then the modeling process is fast, but the simulation accuracy deteriorates
Solution Approach 1:
The system performs preliminary detection and calculation of physical characteristics and disposition information, enabling fast automated modeling that maintains high simulation accuracy. By pre-processing object parameters and their physical relationships, the system achieves both rapid modeling speed and accurate simulation results without requiring time-consuming manual adjustments
Data Source
AI summary
An object is to provide a model generation apparatus capable of generating a model for implementing a more precise simulation. Firstly, an object to be reconstructed on a 3D model is extracted from 3D image information, and an object model having a highest shape conformity degree with the object is acquired from among a plurality of object models available on the 3D model, and is associated with size information and disposed-place information of the object. Next, for each of acquired object models, the extracted object model is edited so as to conform with the size information of the object. Then, the edited object model is disposed on the 3D model so that the object model satisfies a physical constraint on the 3D model and conforms with the disposed-place information.