Sensor and Environment Physics in the Virtual Autonomous Navigation Environment (VANE)

Abstract

This report documents the physics models that are implemented in the Virtual Autonomous Navigation Environment (VANE), a sensor simulator that uses physics-based ray tracing to simulate common robotic sensors such as cameras, LiDAR, GPS, and automotive RADAR. The report will provide information about the underlying assumptions and implementation details regarding the physics models used in VANE simulations. These include surface reflectance and texture models, atmospheric models, weather effects, and sensor properties. The purpose of this report is to provide information for VANE users, developers, and analysts who would like to use the VANE for sensor simulations.

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Document Details

Document Type
Technical Report
Publication Date
Aug 27, 2020
Accession Number
AD1107266

Entities

People

  • Christopher T. Goodin
  • Juan D. Fernandez
  • Justin T. Carrillo

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Cameras
  • Computer Graphics
  • Computer Science
  • Computers
  • Coordinate Systems
  • Department Of Defense
  • Detection
  • Detectors
  • Distribution Functions
  • Engineers
  • Environment
  • Global Positioning Systems
  • Graphics
  • Grids
  • Laser Radar
  • Light Sources
  • Navigation
  • Optics
  • Ray Tracing
  • Scattering
  • Signal Processing
  • Simulations
  • Simulators
  • Unmanned Ground Vehicles
  • Vehicles
  • World Geodetic System

Readers

  • Computer Vision.
  • Fluid Dynamics.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space