This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment of aerial georegistration algorithms and is made available with a link provided in the paper. A model creation package is provided which downloads multi-spectral images from the Google Earth Engine database and, if necessary, incorporates these images into a single, possibly very large, reference image. Additionally a Gazebo plugin which uses the real-time sensor pose and image formation model to generate simulated imagery using the specified reference image is provided along with related plugins for UAV relevant data. The novelty of this work is threefold: (1) this is the first system to link the massive multi-spectral imaging database of Google's Earth Engine to the Gazebo simulator, (2) this is the first example of a system that can simulate geospatially and radiometrically accurate imagery from multiple sensor views of the same terrain region, and (3) integration with other UAS tools creates a new holistic UAS simulation environment to support UAS system and subsystem development where real-world testing would generally be prohibitive. Sensed imagery and ground truth registration information is published to client applications which can receive imagery synchronously with telemetry from other payload sensors, e.g., IMU, GPS/GNSS, barometer, and windspeed sensor data. To highlight functionality, we demonstrate ROSgeoregistration for simulating Electro-Optical (EO) and Synthetic Aperture Radar (SAR) image sensors and an example use case for developing and evaluating image-based UAS position feedback, i.e., pose for image-based Guidance Navigation and Control (GNC) applications.
翻译:此篇文章描述一个名为ROS 的软件包,名为ROS 地球登记,准备与机器人操作系统和 Gazebo 3D 模拟环境一起使用。ROSGeo登记为空中地理登记算法的模拟、测试和部署提供了工具,并在文件中提供了链接。提供了一个模型创建包,从Google地球引擎数据库下载多光谱图像,并在必要时将这些图像纳入一个单一的、可能非常大的参考图像中。此外,还提供了一个Gazebo插件,该插件使用实时传感器显示和图像形成模型模型,利用指定的参考图像生成模拟图像。与UAAVA相关数据的相关插件一起,提供了模拟、测试、测试、将谷歌地球引擎的大规模多光谱成像数据库连接到Gazebo模拟器数据库,(2) 这是能够从同一地形区域的多个传感器视图模拟地理和对等准确度图像的系统的第一个示例。 与其他 UASASAS 模拟环境定位环境, 支持 USA 和子系统 的图像评估定位系统, 将实时服务器 用于真实的图像测试 。