Simulate forest trees by integrating L-system and 3D CAD files
This work addresses the need for realistic virtual environments for testing sensors and training robotic algorithms, particularly for applications like biosonar sensors mimicking bats, but it is incremental as it combines existing techniques.
The paper tackles the problem of simulating realistic trees and forests by integrating L-systems for branching patterns with 3D CAD files for geometry, using randomization and an Inhomogeneous Poisson process for tree placement, resulting in a method to create complex 3D virtual environments for sensor testing and robotic training.
In this article, we propose a new approach for simulating trees, including their branches, sub-branches, and leaves. This approach combines the theory of biological development, mathematical models, and computer graphics, producing simulated trees and forest with full geometry. Specifically, we adopt the Lindenmayer process to simulate the branching pattern of trees and modify the available measurements and dimensions of 3D CAD developed object files to create natural looking sub-branches and leaves. Randomization has been added to the placement of all branches, sub branches and leaves. To simulate a forest, we adopt Inhomogeneous Poisson process to generate random locations of trees. Our approach can be used to create complex structured 3D virtual environment for the purpose of testing new sensors and training robotic algorithms. We look forward to applying this approach to test biosonar sensors that mimick bats' fly in the simulated environment.