@InProceedings{CerqueiraTrNeOlJoAl:2016:CuSh3D,
               author = "Cerqueira, R{\^o}mulo and Trocoli, Tiago and Neves, Gustavo and 
                         Oliveira, Luciano and Joyeux, Sylvain and Albiez, Jan",
          affiliation = "Brazilian Institute of Robotics, SENAI CIMATEC; Intelligent Vision 
                         Research Lab, Federal University of Bahia and Brazilian Institute 
                         of Robotics, SENAI CIMATEC and Brazilian Institute of Robotics, 
                         SENAI CIMATEC and Intelligent Vision Research Lab, Federal 
                         University of Bahia and Brazilian Institute of Robotics, SENAI 
                         CIMATEC and Brazilian Institute of Robotics, SENAI CIMATEC; 
                         Robotics Innovation Center, DFKI",
                title = "Custom Shader and 3D Rendering for computationally efficient Sonar 
                         Simulation",
            booktitle = "Proceedings...",
                 year = "2016",
               editor = "Aliaga, Daniel G. and Davis, Larry S. and Farias, Ricardo C. and 
                         Fernandes, Leandro A. F. and Gibson, Stuart J. and Giraldi, Gilson 
                         A. and Gois, Jo{\~a}o Paulo and Maciel, Anderson and Menotti, 
                         David and Miranda, Paulo A. V. and Musse, Soraia and Namikawa, 
                         Laercio and Pamplona, Mauricio and Papa, Jo{\~a}o Paulo and 
                         Santos, Jefersson dos and Schwartz, William Robson and Thomaz, 
                         Carlos E.",
         organization = "Conference on Graphics, Patterns and Images, 29. (SIBGRAPI)",
            publisher = "Sociedade Brasileira de Computa{\c{c}}{\~a}o",
              address = "Porto Alegre",
             keywords = "Synthetic Sensor Data, Sonar Imaging, Robot Construction Kit 
                         (ROCK), Underwater Robotics.",
             abstract = "This paper introduces a novel method for simulating underwater 
                         sonar sensors by vertex and fragment processing. The virtual 
                         scenario used is composed of the integration between the Gazebo 
                         simulator and the Robot Construction Kit (ROCK) framework. A 
                         3-channel matrix with depth and intensity buffers and angular 
                         distortion values is extracted from OpenSceneGraph 3D scene frames 
                         by shader rendering, and subsequently fused and processed to 
                         generate the synthetic sonar data. To export and display 
                         simulation resources, this approach was written in C++ as ROCK 
                         packages. The method is evaluated on two use cases: the virtual 
                         acoustic images from a mechanical scanning sonar and 
                         forward-looking sonar simulations.",
  conference-location = "S{\~a}o Jos{\'e} dos Campos, SP, Brazil",
      conference-year = "4-7 Oct. 2016",
             language = "en",
                  ibi = "8JMKD3MGPAW/3M8FM82",
                  url = "http://urlib.net/ibi/8JMKD3MGPAW/3M8FM82",
           targetfile = "sibgrapi16.pdf",
        urlaccessdate = "2024, Apr. 27"
}