Environment Simulation

USARSIM provides Unreal maps for all three RoboCup arenas. Fig. 2 shows a photo and an Unreal rendering of the orange and yellow arena. Using the Unreal editor, arbitrary scenes can be created. Fig. 3 shows a photo of our office corridor and the corresponding Unreal scene.

Figure 3: Top: AVZ building Osnabrück and KURT2 real. Bottom: Building and KURT2 in simulation. More material available at http://kos. informatik.uos.de/download/UOSSim/index.html.