災害対応ロボットシミュレータChoreonoidの視野画像シミュレーション機能

抄録

This paper describes the field-of-view image simulation function of the robot simulator “Choreonoid”. The current status of the function is overviewed and what is necessary to make the function more practical for disaster response robots is discussed. Based on the discussion, we improve the function so that it can generate field-of-view images that include various natural phenomena and shadows, and how to achieve it is described.