Target library and terrain models for sensor assessment

In order to perform accurate assessment of sensor systems with simulation based methods, high quality simulations are required. The task for the project Assessment of intelligent sensor system is to develop a modular sensor system simulation program that can simulate sensor systems in various environments, weather conditions and time periods. The simulation tool that is further developed is the MSSLab (MultiSensorSimulationLab). Accurate simulations of sensor data require that all simulation models e.g. terrain models, target object, material classification, scene simulation and sensor models are of high quality. This report describes the work with terrain models and target library that has been done in the project. In MSSLab sensor systems can now be simulated in the terrain models Kvarn, Norrköping, Middle East and Bornholm. For physically based simulation, information about both the geometry and the material of the terrain is required. The status of work on material classification of terrain areas is described in the report. The Kvarn model has been further developed with so called bump mapping, which means that a fine height information has been superimposed on the model. The Kvarn model has also been further developed with a low-resolution area outside the high-resolution area. It is also very important that the object models in a simulation are of high quality. Therefore a 3D model library with different objects and people has been further developed. At present, the library consists of more than 50 different models of both civilian and military people, as well as a large number of ground vehicles. In order to easily build different military scenarios, the Scenario Manager has been developed and now contains both civilian and military people and vehicles. To control moving objects, splines with breakpoints are often used where each breakpoint describes the behavior of the device, such as what speed it should have and whether it will move in a certain formation. It is also important that the object models have realistic behaviors. In order for the animated people to move realistically, HLAS (High Level Animation System) has been further developed with new behaviors.