Relevant bibliographies by topics / Real-time 3D visual simulation

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Real-time 3D visual simulation'

Author: Grafiati
Published: 30 June 2021
Last updated: 29 July 2025

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Journal articles on the topic "Real-time 3D visual simulation"

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Isaacs, John P., David J. Blackwood, Daniel Gilmour, and Ruth E. Falconer. "Real-Time Visual Simulation of Urban Sustainability." International Journal of E-Planning Research 2, no. 1 (2013): 20–42. http://dx.doi.org/10.4018/ijepr.2013010102.

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Sustainable decision making for strategic planning is a challenging process: requiring an understanding of the complex interactions among environmental, economic and social factors. Commonly, such decisions are dominated by economic factors hence there is a need for a framework that supports inclusive decision making throughout all stages of urban and rural planning projects. Towards this the authors have developed the Sustainable City Visualization Tool (S-CITY VT) which comprises 1) indicators (these provide the basis for assessment and monitoring of sustainability) selected according to sca
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Agus, Marco, Andrea Giachetti, Enrico Gobbetti, Gianluigi Zanetti, and Antonio Zorcolo. "Real-Time Haptic and Visual Simulation of Bone Dissection." Presence: Teleoperators and Virtual Environments 12, no. 1 (2003): 110–22. http://dx.doi.org/10.1162/105474603763835378.

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Bone dissection is an important component of many surgical procedures. In this paper, we discuss a haptic and visual simulation of a bone-cutting burr that is being developed as a component of a training system for temporal bone surgery. We use a physically motivated model to describe the burr-bone interaction, which includes haptic forces evaluation, the bone erosion process, and the resulting debris. The current implementation, directly operating on a voxel discretization of patient-specific 3D CT and MR imaging data, is efficient enough to provide real-time feedback on a low-end multiproces
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Sennersten, Charlotte C., and Craig A. Lindley. "Real Time Eye Gaze Logging in a 3D Game/Simulation World." Key Engineering Materials 437 (May 2010): 555–59. http://dx.doi.org/10.4028/www.scientific.net/kem.437.555.

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Evaluating the effectiveness of virtual environments as training and analysis systems one must take into account both strongly and weakly defined measures of visual behaviour and associated experience. The investigation of cross correlations between strongly defined measures of logged gaze behaviours, and weakly defined measures of subjective perceptions of visual behaviour, reveals significant discrepancies. The existence of these discrepancies casts doubt upon the effectiveness of using self-reporting questionnaires to assess training effectiveness. However, making participants aware of thes
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Zhang, Zhi Chun, Song Wei Li, Song Yan Lu, Wen Xu, and Yun He. "3D Cloud Simulation Technology in Flight Visual System." Advanced Materials Research 909 (March 2014): 418–22. http://dx.doi.org/10.4028/www.scientific.net/amr.909.418.

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The simulation technology of 3D cloud can be the ideal method to meet both making human visual scenes realistic and generating weather radar images in flight simulations. This paper describes a 3D cloud simulation method and technology that focuses in three aspects of cloud modeling, lighting and rendering. Firstly, the 3D cloud was modeled in a particle system to specify the atmosphere characteristics of cloud in natural world, then the textures were mapped to the particles to improve the cloud authentic and the lighting model was established to make the cloud environments realistic. Finally,
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Shen, Helong, Yong Yin, Yongjin Li, and Pengcheng Wang. "Real-time Dynamic Simulation of 3D Cloud for Marine Search and Rescue Simulator." International Journal of Virtual Reality 8, no. 2 (2009): 59–63. http://dx.doi.org/10.20870/ijvr.2009.8.2.2725.

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As the main scenery of sky, the effect of 3D cloud influences the fidelity of visual system and the immersion effect of simulator. In this paper, based on the work of Y. Dobashi and T. Nishita, small region Cellular Automaton is generated and more realistic cloud simulation is improved. The experimental results show that the visual system of simulator can run in real-time and has a relatively higher refresh rate after changeable 3D cloud being applied.
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Lei, Hua Feng, Ning Shan, and Hao Wang. "A Study on Optimization Technology of Visual Simulation Model Based on Creator." Applied Mechanics and Materials 556-562 (May 2014): 3633–36. http://dx.doi.org/10.4028/www.scientific.net/amm.556-562.3633.

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Establishing 3d model is basis for visual simulation, it has a great effect on real-time and authenticity in process of rendering and taking on Vega visual simulation platform. Therefore, reasonably optimizing model is very important for solving the contradiction between real-time and authenticity and realizing effects of establishing authentic and fast establishing in visual simulation. This paper will analyze how to use modeling optimization techniques to optimize armored vehicle model based on Creator, so as to make it better to meet immersive and interactive requirements in visual simulati
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Lee, Jyh-Fa, Ming-Shium Hsieh, Chih-Wei Kuo, Ming-Dar Tsai, and Ming Ma. "REAL-TIME THREE-DIMENSIONAL RECONSTRUCTION FOR VOLUME-BASED SURGERY SIMULATIONS." Biomedical Engineering: Applications, Basis and Communications 20, no. 04 (2008): 205–18. http://dx.doi.org/10.4015/s1016237208000799.

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This paper describes a three-dimensional reconstruction method to provide real-time visual responses for volume (constituted by tomographic slices) based surgery simulations. The proposed system uses dynamical data structures to record tissue triangles obtained from 3D reconstruction computation. Each tissue triangle in the structures can be modified or every structure can be deleted or allocated independently. Moreover, triangle reconstruction is optimized by only deleting or adding vertices from manipulated voxels that are classified as erosion (in which the voxels are changed from tissue to
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Xiao, Yang, Shulin Dai, Chenfan Xiao, and Xinfeng Xu. "Research and Development of a Real-time UAV Flight Visualization Simulation System." Journal of Physics: Conference Series 2218, no. 1 (2022): 012081. http://dx.doi.org/10.1088/1742-6596/2218/1/012081.

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Abstract On the premise of practical application, this paper describes the principle, technology and implementation methods of a real-time UAV flight visualization simulation system. The overall framework, hardware system composition, UAV flight model establishment, determination of flight control mode and control rate, design of 3D visual simulation system, management and processing of UAV flight state data are discussed, and finally, the actual application effect of the system is evaluated.
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Lynen, Simon, Bernhard Zeisl, Dror Aiger, et al. "Large-scale, real-time visual–inertial localization revisited." International Journal of Robotics Research 39, no. 9 (2020): 1061–84. http://dx.doi.org/10.1177/0278364920931151.

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The overarching goals in image-based localization are scale, robustness, and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful real-world deployment. They enable applications ranging from robot navigation, autonomous driving, virtual and augmented reality to device geo-localization. Recently, end-to-end learned localization approaches have been proposed which show promising results on small-scale datasets. However, the positioning accuracy, scalability, latency, and compute and storage requirements
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DE CARVALHO, PAULO ROBERTO, MAIKON CISMOSKI DOS SANTOS, WILLIAM ROBSON SCHWARTZ, and HELIO PEDRINI. "AN IMPROVED VIEW FRUSTUM CULLING METHOD USING OCTREES FOR 3D REAL-TIME RENDERING." International Journal of Image and Graphics 13, no. 03 (2013): 1350009. http://dx.doi.org/10.1142/s0219467813500095.

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The generation of real-time 3D graphics scenes normally demands high computational requirements. Several applications can benefit from efficient algorithms for rendering complex virtual environments, such as computer games, terrain visualization, virtual reality and visual simulation. This paper describes an improved view frustum culling method using spatial partitioning based on octrees for 3D real-time rendering. The proposed method is compared against two other approaches. Experiments using four different scenes are conducted to evaluate the performance of each tested method. Results demons
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Dissertations / Theses on the topic "Real-time 3D visual simulation"

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Christoforidis, Constantin. "Optimizing your data structure for real-time 3D rendering in the web : A comparison between object-oriented programming and data-oriented design." Thesis, Högskolan i Skövde, Institutionen för informationsteknologi, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-20048.

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Performance is something that is always of concern when developing real-time 3D graphics applications. The way programs are made today with object-oriented programming has certain flaws that are rooted in the methodology itself. By exploring different programming paradigms we can eliminate some of these issues and find what is best for programming in different areas. Because real-time 3D applications need high performance the data-oriented design paradigm that makes the data the center of the application is experimented with. By using data-oriented design we can eliminate certain issues with o
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Rojas, Vanessa. "Real time wind simulation in a 3D game." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176704.

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While many games incorporate physics to simulate different aspects of gameplay, this is uncommon when it comes to fluid flows like wind, due to the complexity of the associated equations. The challenge increases in 3-dimensional worlds with large world maps and a real-time simulation. It is however possible to simplify a simulation by prioritizing visual and gameplay effects rather than physical accuracy, while still using a physically-sound system as a base. What this means for each game will differ depending on the architecture of the game, the desired outcome and acceptable performance cost
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Cristino, Filipe. "Investigation into a real time 3D visual inspection system for industrial use." Thesis, Liverpool John Moores University, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.402879.

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Mackey, Randall Lee. "NPSNET : hierarchical data structures for real-time three-dimensional visual simulation." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/28402.

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Brunner, Thalia. "Suspension of disbelief: Animating believable 3D nebula visual effects utilising real-time technology." Thesis, Queensland University of Technology, 2021. https://eprints.qut.edu.au/213208/1/Thalia_Brunner_Thesis.pdf.

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This practice-based research aimed to investigate and identify the key aesthetic and technical considerations for the creation of believable, real-time 3D nebula VFX as an individual animation practitioner. Real-time technology was utilised as an advancement of traditional VFX practices, improving the quality of outcomes through more creative control, faster render times and less reliance on computing power. Three cycles of creative practice were undertaken, resulting in three, 3D visualisations of nebula.
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Forsberg, Sean Michael. "NETWORK CHANNEL VISUALIZING SIMULATOR: A REAL-TIME, 3D, INTERACTIVE NETWORK SIMULATION PLATFORM." DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/784.

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With a focus of always being connected, it's become typical for laptops and mobile devices to include multiple wireless network devices. Though the additional network devices have created mobility and versatility of how a user is connected, it is common for only one to be active at any given time. While likely that new mesh protocols will help maximize connectivity and power consumption by utilizing lower-power multi-hop techniques, it is still difficult to visualize these protocols due to the complexity created by each node's simple choices. Further challenges are presented by the variety of
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Bain, Matthew N. "Real Time Music Visualization: A Study in the Visual Extension of Music." Columbus, Ohio : Ohio State University, 2008. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1213207395.

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Sundaraj, Kenneth. "Real-time dynamic simulation and 3D interaction of biological tissue : application to medical simulators." Grenoble INPG, 2004. http://www.theses.fr/2004INPG0012.

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L'avènement de l'imagerie médicale et de nouvelles techniques opératoires a bouleversé les méthodes de travail des médecins. Mais ce changement nécessitera une formation renforcée des praticiens et chirurgiens. C'est pourquoi le dévelopment d'outils appropriés comme les simulateurs médico-chirurgicaux se fait de plus en plus ressentir. Dans ce cadre, nous nous sommes intéressés au problème de la modélisation des phénomènes de déformation de tissu biologique et à la détection des collisions dans un environment virtuel. Dans un premier temps, nous présentons les différents modèles physiques exis
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Srisamang, Richard, Richard Todd, Sudarshan Bhat, and Terry Moore. "UAV INTEGRATED VISUAL CONTROL AND SIMULATION SYSTEM ARCHITECTURE AND CAPABILITIES IN ACTION." International Foundation for Telemetering, 2000. http://hdl.handle.net/10150/606815.

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International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California<br>Unmanned Aerial Vehicles (UAV) are becoming a significant asset to the military. This has given rise to the development of the Vehicle Control and Simulation System (VCSS), a low-cost ground support and control system deployable to any UAV testing site, with the capability to support ground crew and pilot training, real-time telemetry simulation, distribution, transmission and reception, mission planning, and Global Positioning System (GPS) receptio
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Merrell, Thomas Yates. "Escape Simulation Suite." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/31754.

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Ever since we were children the phrase â In case of an emergency, walk, DONâ T run, to the nearest exitâ has been drilled into our heads. How to evacuate a large number of people from a given area as quickly and safely as possible has been a question of great importance since the first congregation of man; a question that has yet to be optimally answered. There have been many attempts at finding an answer and many more yet to be made. In light of recent world events, 9/11 for instance, the need for a better answer is apparent. While finding a solution to this problem is the end objecti
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Books on the topic "Real-time 3D visual simulation"

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Mackey, Randall Lee. NPSNET: Hierarchical data structures for real-time three-dimensional visual simulation. Naval Postgraduate School, 1991.

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Facility, Dryden Flight Research, ed. Real-time application of advanced three-dimensional graphic techniques for research aircraft simulation. NASA Ames Research Center, Dryden Flight Research Facility, 1990.

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Facility, Dryden Flight Research, ed. Real-time application of advanced three-dimensional graphic techniques for research aircraft simulation. NASA Ames Research Center, Dryden Flight Research Facility, 1990.

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Facility, Dryden Flight Research, ed. Real-time application of advanced three-dimensional graphic techniques for research aircraft simulation. NASA Ames Research Center, Dryden Flight Research Facility, 1990.

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Lever, Nik. Real-time 3D Character Animation with Visual C++. Routledge, 2001. http://dx.doi.org/10.4324/9780080497983.

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Real-time 3D Character Animation with Visual C++. Focal Press, 2002.

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Real-Time 3D Character Animation with Visual C++. CRC Press LLC, 2001.

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Real-Time 3D Character Animation with Visual C++. CRC Press LLC, 2001.

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Lever, Nik. Real-Time 3D Character Animation with Visual C++. CRC Press LLC, 2001.

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Lever, Nik. Real-Time 3D Character Animation with Visual C++. CRC Press LLC, 2001.

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Book chapters on the topic "Real-time 3D visual simulation"

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Lipşa, Dan R., Robert S. Laramee, Simon Cox, and I. Tudur Davies. "Visualizing 3D Time-Dependent Foam Simulation Data." In Advances in Visual Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-41914-0_26.

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Brandstetter, Andrea, Najoua Bolakhrif, Christian Schiffer, Timo Dickscheid, Hartmut Mohlberg, and Katrin Amunts. "Deep Learning-Supported Cytoarchitectonic Mapping of the Human Lateral Geniculate Body in the BigBrain." In Lecture Notes in Computer Science. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-82427-3_2.

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AbstractThe human lateral geniculate body (LGB) with its six sickle shaped layers (lam) represents the principal thalamic relay nucleus for the visual system. Cytoarchitectonic analysis serves as the groundtruth for multimodal approaches and studies exploring its function. This technique, however, requires experienced knowledge about human neuroanatomy and is costly in terms of time. Here we mapped the six layers of the LGB manually in serial, histological sections of the BigBrain, a high-resolution model of the human brain, whereby their extent was manually labeled in every 30th section in bo
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Chi, Cheng. "Simulation Technique." In Underwater Real-Time 3D Acoustical Imaging. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-3744-4_5.

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Petring, Ralf, Benjamin Eikel, Claudius Jähn, Matthias Fischer, and Friedhelm Meyer auf der Heide. "Real-Time 3D Rendering of Heterogeneous Scenes." In Advances in Visual Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-41914-0_44.

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Gutmann, Greg, Daisuke Inoue, Akira Kakugo, and Akihiko Konagaya. "Real-Time 3D Microtubule Gliding Simulation." In Communications in Computer and Information Science. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-45283-7_2.

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Caccavale, Fabrizio, Vincenzo Lippiello, Bruno Siciliano, and Luigi Villani. "Real-Time Visual Tracking of 3D-Objects." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-540-44410-7_6.

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Yılmaz, Erdal, Yasemin Yardımcı Çetin, Çiğdem Eroğlu Erdem, Tanju Erdem, and Mehmet Özkan. "Music Driven Real-Time 3D Concert Simulation." In Multimedia Content Representation, Classification and Security. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11848035_51.

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Chen, Xiao, Guangming Wang, Ying Zhu, and G. Scott Owen. "Real-Time Simulation of Ship Motions in Waves." In Advances in Visual Computing. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33179-4_8.

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Aquilio, Anthony S., Jeremy C. Brooks, Ying Zhu, and G. Scott Owen. "Real-Time GPU-Based Simulation of Dynamic Terrain." In Advances in Visual Computing. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11919476_89.

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Chen, Xiao, and Ying Zhu. "Real-Time Simulation of Vehicle Tracks on Soft Terrain." In Advances in Visual Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-41914-0_43.

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Conference papers on the topic "Real-time 3D visual simulation"

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Viertler, Franz, and Manfred Hajek. "Evaluation of Visual Augmentation Methods for Rotorcraft Pilots in Degraded Visual Environments." In Vertical Flight Society 72nd Annual Forum & Technology Display. The Vertical Flight Society, 2016. http://dx.doi.org/10.4050/f-0072-2016-11419.

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Visual augmentation methods using 3D-conformal scenery content presented at a see-through head-mounted display have the potential to support the pilot in degraded visual environments. This work evaluates combined state-of-the-art visualization concepts in low-level flight close to obstacles and with limited visual ranges between 100 m and 800 m. Therefore, a pilot-in-the-loop simulation scenario with an obstacle course has been developed, in order to determine the control strategy of the pilot in low visibility situations, both with and without advanced visual assistance. Sixteen pilots partic
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Niermann, Christian. "SPAACE - 3D Audio Support for Confined Area Operations." In Vertical Flight Society 74th Annual Forum & Technology Display. The Vertical Flight Society, 2018. http://dx.doi.org/10.4050/f-0074-2018-12741.

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A major challenge in aviation and cockpit design is data overload. Especially in the visual channel and associated breakdowns in monitoring systems. These problems are expected to worsen with new and advancing complex missions, which will require pilots to manage increased amounts of data and adopt new responsibilities. Multimodal approaches and especially new developed 3D audio systems have the potential to become a major part. Current cockpits convey audio only as warning- or information-sound. This paper documents a helicopter simulator study to test a new developed 3D audio system to suppo
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Bachelder, E., M. Godfroy-Cooper, A. Kahana, M. Rottem-Hovev, and J. D. Miller. "Multimodal Cueing and Assessment of Pilot Engagement During Low Level Flight." In Vertical Flight Society 74th Annual Forum & Technology Display. The Vertical Flight Society, 2018. http://dx.doi.org/10.4050/f-0074-2018-12747.

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Low-level flight missions can be complex, at times requiring any or all of the following: maneuvering and navigating over challenging terrain, scanning for hostile or friendly units, operation in degraded visibility, radio communications, and decision-making in uncertain and dynamics environments. These conditions, and time, will affect mental workload (MWL) and performance. While direct performance measurements are normally available, information on pilot workload must either be obtained through (intrusive) subjective measures directly from the pilot, or inferred using indirect measurements.
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Kanagaraj, R., Archit Agarwal, Archit Baurai, Devyansh Jain, Saptak Singha, and Subhanshu Baliyan. "Visual Impairment Navigation: Real-Time Contour Mapping with 3D Spatial Audio Feedback." In 2024 8th International Conference on Electronics, Communication and Aerospace Technology (ICECA). IEEE, 2024. https://doi.org/10.1109/iceca63461.2024.10800851.

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Green, D., J. Cosmas, T. Itagaki, M. Waelkens, R. Degeest, and E. Grabczewski. "A real time 3D stratigraphic visual simulation system for archaeological analysis and hypothesis testing." In the 2001 conference. ACM Press, 2001. http://dx.doi.org/10.1145/584993.585035.

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Doleisch, Helmut. "SimVis: Interactive visual analysis of large and time-dependent 3D simulation data." In 2007 Winter Simulation Conference. IEEE, 2007. http://dx.doi.org/10.1109/wsc.2007.4419665.

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Li, Chuntong, Naikun Wei, Xiaomeng Luo, Jianjun Lv, Xuelian Yang, and Deyu Wang. "Real-Time Simulation of Hull Structure Using Finite Element in Virtual Reality Applications." In ASME 2021 40th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/omae2021-62690.

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Abstract Visualization post-processing has become the primary means of awareness and understanding of CAE data intuitively and vividly. Visual analysis can help designers extract meaningful features and results from the complex data quickly and efficiently through intuitive visual images. Virtual reality (VR) -based simulation system can provide experience for the decision-makers and inexperienced workers. We propose a novel solution for real-time Finite Element Analysis (FEA) calculation between wave and hull structure. Firstly, an appropriate CAE system with all the FEA results of the hull i
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Xu, Fang. "Pre-Design Visualization: The Prospect of Real-Time Evaluative Methods in the Design Process." In 108th Annual Meeting Proceedings. ACSA Press, 2020. http://dx.doi.org/10.35483/acsa.am.108.49.

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The rise of computer-generated imagery has significantly changed the landscape of architectural visualization. However, the digital turn brings little shift to the role of vi¬sualization in the architectural design process. Post-design visualization remains a dominant paradigm in practice. This paper advocates the development and adoption of pre-design visualization methods. Pre-design visualization transforms architectural visualization from a discrete and post-design task into a general action ubiquitous in all design stages and preceding formal decisions. Pre-design visualization affords a
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Aileni, Raluca maria, and Adrian Salistean. "THE 3D INTERACTIVE VIRTUAL ENVIRONMENT IMPLEMENTATION FOR GARMENT PRODUCTS PROMOTION." In eLSE 2013. Carol I National Defence University Publishing House, 2013. http://dx.doi.org/10.12753/2066-026x-13-272.

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This paper propose a new modeling concept in garment product promotion. The design concept suppose to make a copy of a real shop in the virtual environment and to enable users to visit this store rooms and interact (translation, rotation and individual body simulation) with objects-garment product products. The virtual reality is often used to describe a wide variety of applications commonly associated with advanced image quality, 3D environments. The 3D Virtual environment is a term that applies to computer-simulated environments that can simulate physical human body presence in places in the
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Robert, Ornprapa P., Chamnan Kumsap, and Sibsan Suksuchano. "Modeling realistic 3D trees using materials from field survey for terrain analysis of tactical training center." In THE 9TH INTERNATIONAL DEFENCE AND HOMELAND SECURITY SIMULATION WORKSHOP. CAL-TEK srl, 2019. http://dx.doi.org/10.46354/i3m.2019.dhss.006.

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This paper elaborates processes of modeling 3D trees for the simulation of the Army’s Tactical Training Center. The ultimate objective is to develop the 3D model database for inclusion to a game engine library. The adopted methodology includes collecting a forestry inventory for later 3D tree modeling in a Unity’s 3D Tree Modeler. Leaves and trunks were closely modeled using the data collected from the real site in the package SpeedTree modeler. Three tree types were sampled to demonstrate how close and realistic the adopted processes were to produce result 3D models for inclusion to the simul
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Reports on the topic "Real-time 3D visual simulation"

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Sinanan, Shawn, Amir Naser, Maribel Delatorre, Ahmet Soylemezoglu, and Garry Glaspell. Autonomous robotics development in Robot Operating System (ROS) 2 Humble. Engineer Research and Development Center (U.S.), 2025. https://doi.org/10.21079/11681/49747.

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This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupanc
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