用物理渲染模拟月球地形下相机成像，支持车-地交互与尘埃效果。
A physics-based sensor simulation environment for lunar ground operations
- 基于物理引擎Chrono的射线追踪与哈普克光照模型生成真实感图像。
- 虚拟实验验证了探测车与挖掘器在月面运动时的视觉表现一致性。
- 适合用于月球感知算法测试及大规模月面任务的虚拟仿真。
本文介绍一个基于物理渲染的软件框架，用于模拟月球环境下相机的工作状态。重点是生成与实际车辆在月面行驶或主动作业（如建造）时产生的图像在视觉上相似的合成图像。该模拟器的核心优势在于能捕捉（i）月球条件下的光传输特性，以及（ii）车辆与地形相互作用带来的视觉伪影，如尘埃形成与迁移。仿真系统构建于自研物理引擎Chrono之上，可模拟可变形地形与车辆的动态交互及由此引发的物质散落过程。Chrono::Sensor相机模型结合了光线追踪与哈普克光度函数。通过两个虚拟实验评估性能：分别使用NASA VIPER探测车在月面环境中的数字孪生，以及NASA RASSOR挖掘器进行挖掘作业的场景。所提出的传感器仿真方案可用于感知算法的设计与测试，也可作为大型月面任务（如路径可达性、建造任务）中“在硅”实验的组成部分。
原文摘要 · Abstract (English)
This contribution reports on a software framework that uses physically-based rendering to simulate camera operation in lunar conditions. The focus is on generating synthetic images qualitatively similar to those produced by an actual camera operating on a vehicle traversing and/or actively interacting with lunar terrain, e.g., for construction operations. The highlights of this simulator are its ability to capture (i) light transport in lunar conditions and (ii) artifacts related to the vehicle-terrain interaction, which might include dust formation and transport. The simulation infrastructure is built within an in-house developed physics engine called Chrono, which simulates the dynamics of the deformable terrain-vehicle interaction, as well as fallout of this interaction. The Chrono::Sensor camera model draws on ray tracing and Hapke Photometric Functions. We analyze the performance of the simulator using two virtual experiments featuring digital twins of NASA's VIPER rover navigating a lunar environment, and of the NASA's RASSOR excavator engaged into a digging operation. The sensor simulation solution presented can be used for the design and testing of perception algorithms, or as a component of in-silico experiments that pertain to large lunar operations, e.g., traversability, construction tasks.
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