Wide Viewing Angle Vision Sensor Simulation Function of Robot Simulator Choreonoid

Abstract

This paper describes how to simulate vision sensors with wide viewing angle on a robot simulator. Such sensors include the Ricoh Theta camera capable of 360 degree shooting and the Velodyne LiDAR VLP-16 sensor that can also measure a three dimensional data of 360 degrees. In order to simulate such a sensor, it is necessary to render the surroundings of the sensor as a plurality of images and integrate these images to generate the sensor data. The method is implemented into a robot simulator Choreonoid, and it successfully simulated the sensor data of the wide viewing angle vision sensors mounted on robots.