A Semantics-Based, Active Render Framework to Realize Complex eRobotics Applications with Realistic Virtual Testing Environments

Abstract

Multi-domain VR simulation systems provide a framework to bring together various modules in order to achieve the desired goals. Due to different data structure needs regarding rendering and simulation tasks, common systems typically focus on one of these areas. In complex technical or mechatronical systems like mobile robotic applications, rendering capabilities are mostly neglected. Hence, the used models are designed with minimal effort resulting in purely functional virtual environments with low visual quality. The novel field of eRobotics is currently being developed as an intuitively applicable eService related to VR in advanced robotic and engineering applications. In this contribution, we will introduce novel system structures and techniques, which meet the requirements to realize a holistic eRobotics development support tool, combining complex simulations with state-of-the art rendering techniques. Semantic world models build the ideal basis in order to combine both areas. Readily available data like provided by geo information services (GIS) can be used as input for the creation of close-to-reality virtual testing environments with minimal effort. Additionally, the close interplay of simulation and rendering modules allows making the transition from a passive render component towards an active one, further improving the accuracy and performance of non-rendering-related tasks like optical sensor simulations.