PEIS Home Simulator - Örebro universitet

4 Static Sensors
These are sensors placed in environment but not attached to any robot.
4.1 Ceiling cameras
There are five web cameras mounted in the ceiling of PEIS Home, they are however intended to be
replaced by new cameras. Currently there is one of these new cameras in the home. In the
simulation five cameras have been added the first of which is placed as the new camera in the real
home, the others are simply placed in a line. Once the camera placement is finalized in the real
home the cameras in the simulation can be moved to appropriate positions.
In the real PEIS home the cameras are not accessed through player but to keep things simple in the
simulator a camera model supporting the Player camera interface was used.
There is a generic camera model for a monocular camera in Gazebo, based on the source code of
this model a plugin model was made instead. The modifications to the original code consisted of
changing the physical shape of the camera and making the origin of the model in the middle of the
“lens” part.
The change in the models origin was made to make placement from real world measurements
easier. In the real home it is easier to measure the position and orientation of the camera at the lens.
Thus with a measure of where a camera lens is located in the real home one can easily determine
coordinates for a simulated camera.
Figure 4.1 The model of the camera as it appears in Gazebo.
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