LADAR Range Data Simulation via Graphics Hardware
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Solution Overview
Problem
Current methods for simulating LADAR sensor range data are limited in providing real-time, accurate data for prototyping, testing, and validation, especially before sensors are built, and lack efficient visualization tools for robotic intelligence systems.
Innovation Solution
Employing computer graphics hardware, specifically the hidden surface removal z-buffer, to generate LADAR range data by defining a wire-frame scene model and laser pulse model, transforming z-buffer data into range values, and producing LADAR range data that mimics actual sensor outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional simulation methods are used for LADAR sensor range data, then the simulation can be performed, but the simulation is not real-time and accurate enough for prototyping and testing
Solution Approach 1:
The patent uses computer graphics hardware to create a virtual copy of the LADAR sensor's range-finding process. By simulating the laser pulse transmission, scene interaction, and signal reception using graphics processing, the system generates accurate LADAR range data without requiring physical sensor deployment, enabling real-time simulation for prototyping and validation.
Solution Approach 2:
The patent replaces the physical LADAR sensor system with a computational model that uses computer graphics hardware. Instead of using actual laser pulses and optical detectors, the system uses virtual representations of laser propagation and scene geometry processed by graphics processing units, achieving real-time simulation with high accuracy.
2Reliability
If physical LADAR sensors are built and deployed for testing, then accurate sensor data is obtained, but the process is time-consuming and lacks visualization capabilities for robotic intelligence systems
Solution Approach 1:
The patent enables preliminary simulation and validation of LADAR sensor performance before physical sensors are built. By pre-computing range data using computer graphics hardware, the system allows prototyping, testing, and robotic intelligence system development to proceed in parallel, significantly reducing the overall time required for sensor validation and system integration.
Solution Approach 2:
The system creates a virtual copy of the LADAR sensor's operational environment and data output. By rendering virtual scenes and computing simulated range data that mirrors actual sensor behavior, the system provides accurate representations of sensor performance without requiring physical sensor deployment, enabling parallel development and validation activities.
Data Source
AI summary
A method for simulating sensor range data includes providing a pulse model configured to generate a sequence of discrete energy pulses. A sequences of flashes associated with the pulse model are electronically generated. Each flash in the sequence of flashes has at least one range value. A sequence of scans is electronically generated from the sequence of flashes. Each scan in the sequence of scans has at least one flash. The sequences of scans is a simulation of sensor range data. The simulation of sensor range data is output in a tangible medium.