Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on embedded hardware of mobile robots that use triangle meshes as environment map. This library called Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, the Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems.
翻译：感应器模拟已成为一种有希望和强大的技术,可以找到许多真实世界机器人任务的解决办法,如本地化和成形跟踪。 然而,常用模拟器的硬件要求高,因此大多用于高端计算机。在本文中,我们提出了一个方法,直接模拟移动机器人的嵌入硬件的射程传感器,这些硬件使用三角环形作为环境图。这个名为Rmagine的图书馆允许机器人通过光谱测试直接上载的任意测距传感器的传感器数据。由于机器人通常只有有限的计算资源,因此,Rmagine 的目标是灵活和轻便,同时向大型环境地图缩放。它运行于一些平台,如膝上型电脑或Nvidia Jetson等嵌入式计算机板上,在硬件制造商提供的具体专有图书馆上设置统一的API。这项工作旨在支持机器人应用的未来开发,这取决于模拟在移动系统的合理时间内无法计算到的测距程数据。
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