%0 Conference Proceedings
%4 sid.inpe.br/sibgrapi/2016/08.09.11.51
%2 sid.inpe.br/sibgrapi/2016/08.09.11.51.21
%T Custom Shader and 3D Rendering for computationally efficient Sonar Simulation
%D 2016
%A Cerqueira, Rômulo,
%A Trocoli, Tiago,
%A Neves, Gustavo,
%A Oliveira, Luciano,
%A Joyeux, Sylvain,
%A Albiez, Jan,
%@affiliation Brazilian Institute of Robotics, SENAI CIMATEC; Intelligent Vision Research Lab, Federal University of Bahia
%@affiliation Brazilian Institute of Robotics, SENAI CIMATEC
%@affiliation Brazilian Institute of Robotics, SENAI CIMATEC
%@affiliation Intelligent Vision Research Lab, Federal University of Bahia
%@affiliation Brazilian Institute of Robotics, SENAI CIMATEC
%@affiliation Brazilian Institute of Robotics, SENAI CIMATEC; Robotics Innovation Center, DFKI
%E Aliaga, Daniel G.,
%E Davis, Larry S.,
%E Farias, Ricardo C.,
%E Fernandes, Leandro A. F.,
%E Gibson, Stuart J.,
%E Giraldi, Gilson A.,
%E Gois, João Paulo,
%E Maciel, Anderson,
%E Menotti, David,
%E Miranda, Paulo A. V.,
%E Musse, Soraia,
%E Namikawa, Laercio,
%E Pamplona, Mauricio,
%E Papa, João Paulo,
%E Santos, Jefersson dos,
%E Schwartz, William Robson,
%E Thomaz, Carlos E.,
%B Conference on Graphics, Patterns and Images, 29 (SIBGRAPI)
%C São José dos Campos, SP, Brazil
%8 4-7 Oct. 2016
%I Sociedade Brasileira de Computação
%J Porto Alegre
%S Proceedings
%K Synthetic Sensor Data, Sonar Imaging, Robot Construction Kit (ROCK), Underwater Robotics.
%X 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.
%@language en
%3 sibgrapi16.pdf