Reality Sim: A realistic environment for robot simulation platform of humanoid robot

As a virtual training, testing and evaluating environment, simulation platform becomes a significant component in Soccer Robot project. Nevertheless, the simulated environment in a simulation platform usually has a big gap with the realistic world. In order to solve this issue, we demonstrate a more realistic simulation system which is called Reality Sim with numerous real images. By this system, the computer vision code could be easily tested on simulation platform. For this purpose, previously, an image database with a large quantity of images recorded by camera pose is built. Furthermore, if the camera pose of an image is not included in the database, an interpolation algorithm is used to reconstruct a brand-new realistic image of that pose such that a realistic image could be provided on every robot camera pose. Our results show this system effectively simulates a more realistic environment for simulation platform.

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