Authors:
Ramir Sultanov
1
;
Ramil Safin
1
;
Edgar Martı́nez-Garcı́a
2
and
Evgeni Magid
1
;
3
Affiliations:
1
Intelligent Robotics Department, Kazan Federal University, 35 Kremlin Street, Kazan, Russian Federation
;
2
Institute of Engineering and Technology, Department of Industrial Engineering and Manufacturing, Autonomous University of Ciudad Juarez, Manuel Díaz H. No. 518-B Zona Pronaf Condominio, Chihuahua, 32315 Cd Juárez, Mexico
;
3
HSE University, 20 Myasnitskaya str , Moscow, Russian Federation
Keyword(s):
Robotics, Vision, the Sun, Lighting Conditions, Simulation, Localization, Gazebo.
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.