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Article

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Title

LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision Algorithm Development

Authors

[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ SzD ] doctoral school student

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2023

Published in

Applied Sciences

Journal year: 2023 | Journal volume: vol. 13 | Journal number: iss. 22

Article type

scientific article

Publication language

english

Keywords
EN
  • space robotics
  • computer vision
  • deep learning
  • simulation
Abstract

EN Autonomous lunar exploration is a complex task that requires the development of sophisticated algorithms to control the movement of lunar rovers in a challenging environment, based on visual feedback. To train and evaluate these algorithms, it is crucial to have access to both a simulation framework and data that accurately represent the conditions on the lunar surface, with the main focus on providing the visual fidelity necessary for computer vision algorithm development. In this paper, we present a lunar-orientated robotic simulation environment, developed using the Unity game engine, built on top of robot operating system 2 (ROS 2), which enables researchers to generate quality synthetic vision data and test their algorithms for autonomous perception and navigation of lunar rovers in a controlled environment. To demonstrate the versatility of the simulator, we present several use cases in which it is deployed on various efficient hardware platforms, including FPGA and Edge AI devices, to evaluate the performance of different vision-based algorithms for lunar exploration. In general, the simulation environment provides a valuable tool for researchers developing lunar rover systems.

Date of online publication

16.11.2023

Pages (from - to)

12401-1 - 12401-16

DOI

10.3390/app132212401

URL

https://www.mdpi.com/2076-3417/13/22/12401

Comments

Article number: 12401

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Release date

16.11.2023

Date of Open Access to the publication

at the time of publication

Full text of article

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Access level to full text

public

Ministry points / journal

100

Impact Factor

2,5

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