Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| en:ros:title [2021/04/12 07:39] – [Self-driving Vehicles Simulation] momala | en:ros:title [2021/06/14 09:00] (current) – external edit 127.0.0.1 | ||
|---|---|---|---|
| Line 18: | Line 18: | ||
| ==== Data Collection and Processing ==== | ==== Data Collection and Processing ==== | ||
| - | The first step of the Terrain generation is data collection of the desired area. Aerial imagery with a drone, over the area to be mapped, has to be conducted. The images are captured at a grid-based flight path. This ensures that the captured images contain different sides of a subject. In order to make sure the images have maximum coverage, the flight path is followed three times in different camera angles but at a constant altitude. All the images are georeferenced and IMU tagged to put the positioning and orientation data on them for better | + | The first step of the Terrain generation is data collection of the desired area. Aerial imagery with a drone, over the area to be mapped, has to be conducted. The images are captured at a grid-based flight path. This ensures that the captured images contain different sides of a subject. In order to make sure the images have maximum coverage, the flight path is followed three times in different camera angles but at a constant altitude. All the images are georeferenced and IMU tagged to put the positioning and orientation data on them for better |
| ==== Terrain generation ==== | ==== Terrain generation ==== | ||
| Digitalization of a real-life environment can be used for simulating AVs in countless different scenarios without taking the vehicle out for once. Terrain generation from point-cloud is done right in Unity. The in-house developed plugin reads a pre-classified point-cloud file and based on chosen parameters it creates a normal map, a heightmap, and a color map to use in conjunction with the unity’s terrain engine to create realistic environments. | Digitalization of a real-life environment can be used for simulating AVs in countless different scenarios without taking the vehicle out for once. Terrain generation from point-cloud is done right in Unity. The in-house developed plugin reads a pre-classified point-cloud file and based on chosen parameters it creates a normal map, a heightmap, and a color map to use in conjunction with the unity’s terrain engine to create realistic environments. | ||
| + | |||
| + | ====== | ||
| + | In the following, we have a brief introduction to AV basic requirements and simulation. | ||
| + | |||
