Modeling Sunlight in Gazebo for Vision-Based Applications Under Varying Light Conditions

Ramir Sultanov, Ramil Safin, Edgar Martı́nez-Garcı́a, Evgeni Magid, Evgeni Magid

2024

Abstract

Vision is one of the well-researched sensing abilities of robots. However, applying vision-based algorithms can be challenging when used in different environmental conditions. One such challenge in vision-based localization is dynamic lighting conditions. In this paper, we present a new Gazebo plugin that enables realistic illumination changes depending on a current Sun's position. A plugin's underlying algorithm takes into account various parameters, such as date, time, latitude, longitude, elevation, pressure, temperature, and atmospheric refraction. Virtual experiments demonstrated effectiveness of the proposed plugin, and the source code is available for free academic use.

Paper Citation

in Harvard Style

Sultanov R., Safin R., Martı́nez-Garcı́a E. and Magid E. (2024). Modeling Sunlight in Gazebo for Vision-Based Applications Under Varying Light Conditions. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 519-526. DOI: 10.5220/0013068700003822

in Bibtex Style

@conference{icinco24,
author={Ramir Sultanov and Ramil Safin and Edgar Martı́nez-Garcı́a and Evgeni Magid},
title={Modeling Sunlight in Gazebo for Vision-Based Applications Under Varying Light Conditions},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={519-526},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013068700003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Modeling Sunlight in Gazebo for Vision-Based Applications Under Varying Light Conditions
SN - 978-989-758-717-7
AU - Sultanov R.
AU - Safin R.
AU - Martı́nez-Garcı́a E.
AU - Magid E.
PY - 2024
SP - 519
EP - 526
DO - 10.5220/0013068700003822
PB - SciTePress