Download PDFOpen PDF in browserA Software Framework for Advancing Perception Capabilities for Rovers Operating in Harsh Lunar EnvironmentsEasyChair Preprint 135542 pages•Date: June 5, 2024AbstractWe present a software framework to model and simulate the perception capabilities of rovers operating in extreme lunar environments, enhancing the test-driven development of rover perception systems. Using the multiphysics engine Project Chrono, this framework integrates high-fidelity terramechanics and sensor simulations to model the mechanical and optical properties of navigation and sensing in lunar environments. Additionally, we present POLAR3D, a pipeline for creating photorealistic synthetic images of lunar environments based on NASA's POLAR stereo dataset. Keyphrases: Sensor Simulation, rover simulation, terrain mechanics
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