Fully-simulated Integration of Scamp5d Vision System and Robot Simulator
Wen Fan, Yanan Liu, Yifan Xing
TL;DR
This paper presents a fully simulated platform integrating the SCAMP vision sensor with the CoppeliaSim robot simulator, enabling obstacle avoidance and navigation testing with on-sensor visual processing.
Contribution
It introduces a novel fully simulated environment combining on-sensor visual computing with robot simulation, facilitating development and testing of vision-based navigation algorithms.
Findings
Successful integration of SCAMP sensor with CoppeliaSim
Demonstrated obstacle avoidance and navigation in simulation
Platform and algorithms made publicly available
Abstract
This paper proposed a fully-simulated environment by integrating an on-sensor visual computing device, SCAMP, and CoppeliaSim robot simulator via interface and remote API. Within this platform, a mobile robot obstacle avoidance and target navigation with pre-set barriers is exploited with on-sensor visual computing, where images are captured in a robot simulator and processed by an on-sensor processing server after being transferred. We made our developed platform and associated algorithms for mobile robot navigation available online.
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Taxonomy
TopicsRobotic Path Planning Algorithms · Robotics and Sensor-Based Localization · Robotics and Automated Systems