1. Virtual Modeling Simulation of a camera, placed on the robot Author Astapkovich Dmitry, d.astapkovich@creatstudio.com

2. Introduction At the present moment creating of autonomous robots with system of orientation based on computer vision becomes more and more actual. The key question is algorithm of image recognition, that needs to be tested on large sets of images. These sets can be created with systems of virtual modeling, that gives great variety of options and environments. In this presentation such a system is observed.

3. Content • Problem description • Requirements for modeling system • Mathematical description • Development shell • System requirements • System demonstration

4. Requirements for modeling The challenge was to build a system that can create sets of images, simulating robot movement on the polygon with some texture. List of requirements is following: • size and texture of the polygon must be easy changeable • changeable number of cameras • any camera can be tuned – position, angle of view • usage of content from photo and video cameras • cheap and easy in understanding development software • support of standard control devices (joystick)

5. robot with camera polygon images Handling with joystick Requirements for modeling • Size is more than 200 square meters (15x15) • Creating is expensive • Changing is expensive

6. Modeling modes • Free riding • Trajectory recording/replaying • Noise (camera shake) • Image recording in real time (25 fps)

7. α z y V Pt+1 x Pt Mathematical description |V| = Vmax∙∆y, |V|– velocity vector length Vmax– maximum speed ∆y –уaxis divergence, -1≤ ∆y ≤ 1. αt+1 = αt + αmax∆x, αt+1 – direction in next frame αt– direction in current frame αmax – maximum angle change, ∆х – xaxis divergence, -1≤ ∆х ≤ 1 Pt+1 = Pt+ V Pt+1 = (xt+1, yt+1) – position in next frame Pt = (xt, yt) - position in currnet frame V – velocity vector

8. Development shell System was created using Dark Basic, software for computer games development. Core features: • Powerful media support: AVI, mp3/mp2, jpeg, gif, tga, png and more • Built-in 3D Primitives • External 3d files support in 3DS and XOF formats • Animation support • 2d effects: mirror, stretch, blur, fade • External game controllers support (joystick etc.)

9. System requirements Controller: joystick Saltek ST90 for PC, USB 2.0, 2 axis, 2 buttons Hardware: • OS:Windows ХР • Processor: Pentium IV 2.6 GHz • RAM:1 Gb • HDD: 80 Gb • Video Card: ASUS GeForce FX 5700 256 Mb This configuration can give 25 fps in record mode with screen resolution 1024x768.

10. System demonstration

11. Contacts Email: d.astapkovich@creatstudio.com damat@yandex.ru