EP2836992A1 - Procédé de reproduction synchrone d'une réalité virtuelle dans un système de simulation distribué - Google Patents

Procédé de reproduction synchrone d'une réalité virtuelle dans un système de simulation distribué

Info

Publication number
EP2836992A1
EP2836992A1 EP13726669.8A EP13726669A EP2836992A1 EP 2836992 A1 EP2836992 A1 EP 2836992A1 EP 13726669 A EP13726669 A EP 13726669A EP 2836992 A1 EP2836992 A1 EP 2836992A1
Authority
EP
European Patent Office
Prior art keywords
terrain
data
simulation computer
polygons
simulation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP13726669.8A
Other languages
German (de)
English (en)
Inventor
Michael Haubner
Manuel Pabst
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krauss Maffei Wegmann GmbH and Co KG
Original Assignee
Krauss Maffei Wegmann GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krauss Maffei Wegmann GmbH and Co KG filed Critical Krauss Maffei Wegmann GmbH and Co KG
Publication of EP2836992A1 publication Critical patent/EP2836992A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/12—Synchronisation between the display unit and other units, e.g. other display units, video-disc players
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/12—Relief maps
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2300/00—Aspects of the constitution of display devices
    • G09G2300/02—Composition of display devices
    • G09G2300/026—Video wall, i.e. juxtaposition of a plurality of screens to create a display screen of bigger dimensions
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2370/00—Aspects of data communication
    • G09G2370/02—Networking aspects

Definitions

  • the invention relates to a method for the synchronous reproduction of a virtual reality site formed of polygons on a plurality of display devices of a simulation device which has a plurality of simulation computers interconnected via a network, spatial coordinates of the polygons of the terrain being stored in each simulation computer, and a first simulation computer generates a change in the terrain.
  • the invention can be applied in a networked simulation device which has a plurality of simulation computers connected to one another via a network.
  • Such simulation devices typically use the Distributed Interactive Simulation (DIS) standard IEEE1278 to distribute the data between the individual simulation computers.
  • DIS Distributed Interactive Simulation
  • Such simulation devices are used to train the crew of land vehicles, such as construction equipment or military vehicles.
  • the networked simulation device has a plurality of display devices on which a common virtual reality can be displayed.
  • each simulation computer is assigned a display device.
  • a simulation computer may also be assigned a plurality of display devices to represent different views of the virtual reality, for example a view from a vehicle to the front and a view to the rear.
  • the virtual reality perceivable by the simulation participants on the display devices has a terrain which is formed by a multiplicity of polygons. So that each simulation computer can perform the calculations required to display the polygons on the display device, spatial coordinates of the polygons are kept in each simulation computer. For this, the spatial coordinates can be transmitted over the network by be transferred to another simulation computer or a server and stored on the respective simulation computer. In order to make the depiction of the terrain more realistic, textures can also be displayed on the polygons, which represent the surface of the terrain.
  • simulated land vehicles can leave lanes in the terrain.
  • a construction machine or a military pioneer vehicle can change the terrain by excavation. In the military field of application, the terrain may also be altered by explosions or impacts of projectiles.
  • the terrain change can affect the topology of the terrain, ie the arrangement of the polygons in virtual reality.
  • the texture imaged on the polygons can be changed to reflect changes in the nature of the terrain.
  • the invention provides the application to reduce the transmission time for the transmission of data over the network.
  • the object is achieved by the following method steps:
  • the first simulation computer generates position data indicating which area of the terrain has been changed
  • the first simulation computer generates altitude data of the changed one
  • the first simulation computer transmits the position data and the height data via the network to a second simulation computer
  • a control unit of the second simulation computer selects, based on the position data, those polygons of the terrain that lie in the changed area,
  • a tessellator unit of the second simulation computer subdivides the selected polygons into a plurality of sub-polygons, a calculation unit of the second simulation computer is calculated
  • the sub-polygons are displayed on a display device connected to the second simulation computer.
  • position data are transmitted which define the area of the terrain that is to be changed when displayed in one of the display devices.
  • height data is transmitted which indicates how the terrain at one point of the area is to be changed with respect to the spatial coordinates stored in the second simulation computer. Due to the position data and the height data, a much smaller amount of data is produced than would be the case with the transmission of spatial coordinate data.
  • the transmission time over the network can be significantly reduced and the representation of terrain changes in real time can be made possible.
  • the spatial coordinates stored in the second simulation computer need not be replaced or supplemented by transmitted spatial coordinates.
  • the spatial coordinates stored in the second simulation computer are changed on the basis of the position data and the height data in the calculation of the pixels to be displayed in the display device.
  • the calculation of the pixels takes place inter alia in the control unit, the tesselator unit and the calculation unit of the second simulation computer.
  • the position data and the height data are transmitted in parallel to a plurality of simulation computers, whereby the load on the network can be reduced.
  • the data may be broadcast over the network via multicast or broadcast transmission.
  • the data is sent only once to a large number of recipients, which may result in a low load on the network.
  • the data is sent over the network as Universal Datagram Protocol (UDP) packets.
  • UDP Universal Datagram Protocol
  • Each simulation computer of the simulation device can be assigned a display device, on which the area of the virtual reality is displayed to a simulation participant.
  • the same view of the terrain can be displayed on the display devices of the simulation computer, in particular of the first and second simulation computer.
  • different views of the terrain are preferably displayed on the display devices, so that a plurality of simulation participants can assume different locations in the virtual reality.
  • the same position data and the same height data can be transmitted to different simulation computers, which calculate different views on the basis of these data and display them on the display devices assigned to them.
  • the texture may be designed in the manner of a terrain map, which has elements which correspond in each case to a predetermined subarea of the terrain.
  • the subarea may be 10m x 10m in virtual reality.
  • a digital value can be stored in the texture, which indicates whether the corresponding subarea has been changed or is unchanged.
  • the elements corresponding to the changed subareas allow the changed area of the terrain to be defined.
  • the height data are stored in a texture. By this measure, a reduction of the data to be transmitted can also be achieved.
  • the texture of the height data can be structured in the manner of a height map which has elements which correspond to a predetermined subarea of the modified terrain area defined by the position data. For each sub-area, a value corresponding to the change in elevation at the relevant site location can be stored in the texture of the elevation data.
  • the texture of the height data has a higher resolution than the texture of the position data. In this case, elevation data with a high degree of detail are generated and transmitted only for the changed area of the terrain, so that the amount of data to be transmitted is reduced. It is not necessary to transfer high resolution elevation data for the area of the terrain that has not been altered.
  • An element of the texture of the height data may correspond to a partial region with an edge length of up to 10 cm, preferably of up to 5 cm, particularly preferably of up to 2 cm.
  • the height data is preferably transmitted as a quadtree via the network.
  • the elevation data can be efficiently stored.
  • the amount of data to be transmitted can be reduced, since areas of the texture with the same content can be combined to form a leaf of the quadtree.
  • the number of layers of the quadtree to be transmitted can be chosen such that the amount of data is adapted to the available bandwidth of the network.
  • the amount of data can be controlled via the depth of the quadtree.
  • control unit, the tessellator unit and / or the calculation unit are part of a graphics card of the simulation computer.
  • a main processor (CPU) of the second simulation computer can be relieved. It is not necessary to perform the selection of polygons, the subdivision into SubPolygone, and the calculation of the space coordinates of the sub-polygons in the main processor. As a result, the representation of the terrain on the display device of the second simulation computer can be accelerated.
  • control unit, the tessellator unit and / or the calculation unit are part of a graphics processor (GPU).
  • control unit the tessellator unit and / or the calculation unit are designed to be programmable, so that they can be adapted to the requirements of the simulation apparatus.
  • the control unit prefferably checks for each polygon to be displayed whether it lies in a changed area of the terrain so that the subdivision of the polygons must take place exclusively in the changed area of the terrain.
  • the resolution of the height data is determined, and the tessellator unit divides the polygons according to the resolution of the height data into sub-polygons. This has the advantage that the subdivision of the polygons into sub-polygons can be controlled by choosing the resolution of the height data.
  • the first simulation computer can thus influence the representation of the terrain on the second simulation computer via the choice of the resolution.
  • the calculations required for subdividing the polygons can be carried out following the transmission of the height data via the network in the tessellator unit of the second simulation computer.
  • the calculation unit calculates the spatial coordinates of the sub-polygons according to a high offset stored in the height data, so that it is not necessary to transmit the vertices from the first simulation computer to the second simulation computer via the network. Rather, it is sufficient to transmit only the high offset, so that the amount of data to be transmitted can be reduced.
  • the invention can greatly reduce the amount of data required to transmit the changes in the polygons over the network. Thus, an improved transmission of relevant for a wireframe representation of the terrain data can be made possible.
  • the polygons can be provided with textures that represent the surface of the terrain.
  • Such a texture and / or an assignment of such a texture to a polygon can also be changed by the first simulation computer.
  • the first simulation computer generates terrain type data of the changed area of the terrain, which are transmitted to the second simulation computer for displaying the surface of the changed area on the second simulation computer.
  • the polygons can be covered with a texture when displayed on the display device.
  • the terrain type data it is preferred here for the terrain type data to have entries which each form a reference to a texture, in particular a background text. Due to the transferred references, the amount of data can be greatly reduced. It is not necessary to transfer a custom texture for each polygon.
  • the terrain type data may be structured in the manner of an index texture containing references to textures instead of image data.
  • a further improvement of the invention can be achieved by an embodiment in which, for displaying a pixel on the display device, a pixel shader of the second simulation computer selects a background texture based on the terrain type data and calculates a color of the pixel.
  • the reference to a background texture can be evaluated in the pixel shader and, based on the reference, a background texture can be selected, which is placed on the respective polygon when displayed on the display device.
  • the second simulation computer uses the terrain type data to represent a soil growth on the display device corresponding to the respective terrain type.
  • the calculations for the presentation of the soil growth can be performed on the second simulation computer, in particular on a graphics card. It is therefore not necessary to transmit data over the network describing the shape of the soil growth.
  • a soil cover suitable for the texture can be selected and calculated.
  • FIG. 1 is a block diagram of a simulation device;
  • FIG. 2 shows a schematic representation of the data structures used for transmission;
  • FIG. 3 is a block diagram of a part of a simulation computer.
  • FIG. 1 shows a networked simulation device 1 which has a plurality of simulation computers 2, which are interconnected via a network 4 designed as a Local Area Network (LAN) or Wide Area Network (WAN).
  • LAN Local Area Network
  • WAN Wide Area Network
  • DIS Distributed Interactive Simulation
  • At least one display device 3 is connected to each simulation computer 2, on which a virtual reality generated by the networked simulation device 1 can be displayed.
  • Such display devices 3 can z. B. be designed as a monitor, flat screen, projector or head-mounted display.
  • Some simulation computers 2 are merely connected to a display device 3. However, as shown in FIG. 1, one of the simulation computers 2 is connected to a plurality of display devices 3 to represent different views of the virtual reality, for example, a view from a vehicle to the front and a view to the rear.
  • the simulation device 1 can be used, for example, in the civil environment for the training of drivers of wheeled or chain-driven land vehicles, such. As dozers, excavators or other construction machinery. In the military field of application can be carried out with the simulation device 1, the training of crew members of military vehicles. For this purpose, each crew member to be trained, a simulation computer 2 are assigned. As a simulation participant, the crew member can influence the course of the simulation by means of operating devices (not shown in the figures) of the simulation computer 2 and perceive the simulated, virtual reality via one or more display devices 3 connected to the respective simulation computer 2.
  • the virtual reality perceivable by the simulation participants on the display devices 3 has a terrain which is formed by a multiplicity of polygons which are arranged in the manner of a wire grid. So that each simulation computer 2 can perform the calculations required to display the polygons on the corresponding display device 3, spatial coordinates of the polygons are kept in each simulation computer 2. The spatial coordinates can do this via the network 4 be transmitted from another simulation computer 2 or a server not shown in the figure and stored on the respective simulation computer 2.
  • the spatial coordinates stored on the individual simulation computers 2 are identical in order to enable a consistent representation of the terrain on all display devices 3 connected to the simulation computers 2.
  • textures can also be displayed on the polygons that represent the surface of the terrain. For example, given areas of the terrain may be covered with a texture that represents turf to create the impression of a meadow landscape.
  • the first simulation computer 2 generates position data L indicating which area of the terrain has been changed
  • the first simulation computer 2 generates altitude data H of the changed area of the terrain
  • the first simulation computer 2 transmits the position data L and the height data H via the network 4 to a second simulation computer 2,
  • a control unit 1 1 of the second simulation computer 2 selects, on the basis of the position data L, those polygons of the terrain which lie in the changed area,
  • a tessellator unit 12 of the second simulation computer 2 subdivides the selected polygons into a plurality of sub-polygons
  • a calculation unit 13 of the second simulation computer 2 calculates spatial coordinates of the sub-polygons according to the height data
  • the sub-polygons are displayed on a display device 3 connected to the second simulation computer 2. Because of this procedure, it is not necessary to calculate changes in the spatial coordinates of the polygons and / or new spatial coordinates, in particular vertices, of the generated sub-polygons in the first simulation computer 2 and then to transmit them to the second simulation computer 2.
  • low-resolution position data L are generated in the first simulation computer 2 and transmitted to the second simulation computer 2, which defines the area of the terrain that is to be changed when displayed in one of the display devices 2.
  • high-resolution height data H are generated and transmitted, which indicate how the terrain is to be changed at a point in the area.
  • the data L and H are transmitted from the first simulation computer 2 via the network 4 to all other simulation computer 2 of the simulation device 1, z. Via a multicast or broadcast transmission.
  • the structure of the position data L and height data H transmitted via the network 4 will be explained in more detail below with reference to the schematic representation in FIG. 2:
  • the position data L is present as a two-dimensional data structure in the manner of a texture that corresponds to the entire area of the simulated terrain.
  • the position data L as a terrain map that indicates where the terrain has changed from the state stored in the simulation computers 2.
  • the position data L contain binary entries, each of which is a predetermined subarea of the terrain correspond.
  • the sub-area may have a size of 10 mx 10 m.
  • a digital value can be stored in the texture, which indicates whether the corresponding subarea has been changed or is unchanged.
  • the elements corresponding to the changed subareas allow the changed area of the terrain to be defined.
  • the position data L in the middle of the terrain defines an area formed from a total of four partial areas in which the terrain has changed.
  • the elements L.1 of the position data L corresponding to these portions are set to the value "1", whereas the elements L.0 corresponding to portions which have not been changed are set to the value "0".
  • the height data H are also stored in a texture, whereby a reduction of the data to be transmitted can be achieved.
  • the texture of the height data H is structured in the manner of a height map which has elements HE which correspond to a predetermined subregion of the modified terrain region defined by the position data L. For each subarea, in the texture of the height data H, a numerical value - a height offset - is deposited, which corresponds to the change in altitude at the relevant point of the terrain.
  • the texture of the height data H has a higher resolution than the texture of the position data L. Because only for the changed Area data H level data H are generated and transmitted with a high degree of detail, the amount of data to be transmitted can be kept low.
  • An element HE of the height data H can correspond to a subarea of the terrain with an edge length of up to 10 cm, preferably of up to 5 cm, particularly preferably of up to 2 cm.
  • the data structure of the terrain type data D is also formed as a texture and has the same resolution as the texture of the height data H.
  • each item DE of the terrain type data D may be assigned an item HE of the height data corresponding to the same portion of the altered virtual reality terrain.
  • the first simulation computer 2 generates terrain type data D of the changed area of the terrain, which are transmitted to the second simulation computer 2 for representing the surface of the changed area on the second simulation computer 2.
  • the polygons in the display on the display device 3 connected to the second simulation computer 2 can be assigned a background texture which corresponds to the respective terrain type.
  • the elements DE are in each case references to a background texture T.
  • the background texture T can be stored in the simulation computer 2 receiving the respective data D or transmitted together with the position data L, the height data D and / or the terrain type data D.
  • a data structure of the type of an index texture results, which contains references to background textures T instead of image data.
  • Such background textures may represent, for example, grass, water, scrub, forest or desert soil.
  • the second simulation computer 2 based on the terrain type data D a corresponding to the respective terrain type Bodenbewuchs, z. As blades of grass or bushes, represent on the display device 3.
  • the calculations for representing the soil growth can be performed on the second simulation calculator 2. It is therefore not necessary to transmit data over the network 4 describing the shape of the soil growth.
  • a ground growth corresponding to the background texture T can be selected and calculated in the second simulation computer 2 receiving the terrain type data.
  • the height data H and the terrain type data D are transmitted via the network 4 as a quadtree.
  • the corresponding data H, D can be stored efficiently.
  • the amount of data to be transferred can be reduced by combining regions of the texture H, D with the same content into a leaf of the quadtree.
  • the number of layers of the quadtree to be transmitted is selected by the simulation computer 2, which transmits the data H, D, such that the amount of data contained in the quadtree to the available bandwidth of the network 4 is adjusted.
  • the simulation computer 2 which transmits the data H, D, such that the amount of data contained in the quadtree to the available bandwidth of the network 4 is adjusted.
  • the amount of data to be transmitted can be controlled.
  • Each simulation computer 2 has a graphics card with a graphics processor (GPU) 10 to which the transmitted position data L, height data th H and terrain type data D for calculating the display in the connected to the simulation computer 2 display device 3 are supplied.
  • the control unit 11, the tessellator unit 12 and the calculation unit 13 are part of a processing chain of the graphics processor 10. They are designed to be programmable, so that they can be adapted to the requirements of the simulation device 1.
  • the graphics processor 10 receives polygon data P, in particular spatial coordinates, from the individual polygons of the terrain from a memory of the second simulation computer 2. Within the GPU 10, this polygon data P first passes through the control unit 11, which checks for each polygon to be displayed whether it lies in a changed area of the terrain. For this purpose, the position data L are used. By comparison with the position data L, the control unit can determine whether the polygon to be tested is part of a modified terrain area.
  • the tessellator unit 12 those polygons which were detected by the control unit 11 as lying in the changed terrain area are then further processed.
  • the resolution of the height data H is determined.
  • the detected polygons are subdivided into sub-polygons according to the resolution of the height data H, so that the changed terrain area on the display device 3 can be displayed in more detail.
  • the height data H are supplied to the tessellator unit 12.
  • calculation unit 13 arranged as the next process element of the processing chain of the GPU 10, spatial coordinates, in particular corner points, of the sub-polygons generated in the tessellator unit 12 are generated according to the in FIG the altitude data H stored height offset calculated.
  • the calculation unit 13 has access to the height data H.
  • the polygon data P are supplied to a pixel shader 1 in which the color values of the individual pixels of the display device 3 are calculated.
  • the terrain type data D is supplied to this pixel shader 14.
  • the pixel shader 14 selects a background texture and calculates for each pixel a corresponding color value, which is subsequently displayed on the display device 4.
  • the above-described method for synchronous reproduction of a virtual reality land formed of polygons makes it possible to reduce the transmission time for transmitting the data via the network 4 of the simulation apparatus 1.
  • dynamic terrain changes can be displayed in real time on all display devices 3.
  • the performance of main processors and graphics processors 10 of the simulation computer 2 can be used optimally and in parallel.
  • the method is characterized in that a high resolution can be displayed in the display devices and realistic textures and texture transitions can be used.

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Abstract

L'invention concerne un procédé de reproduction synchrone d'un terrain, formé de polygones, d'une réalité virtuelle sur plusieurs dispositifs d'affichage d'un système de simulation comportant plusieurs calculateurs de simulation (SR1, SR2) qui sont reliés entre eux par un réseau et mémorisent chacun des coordonnées spatiales des polygones du terrain, SR1 générant une modification du terrain. Ledit procédé comprend les étapes suivantes : - SR1 génère des données de position (L) qui indiquent la zone du terrain qui a été modifiée, - il génère des données d'altitude (H) de la zone modifiée du terrain, - et communique les données de position (L) et les données d'altitude (H) par l'intermédiaire du réseau à SR2; - une unité de commande de SR2 sélectionne à l'aide des données de position (L) chaque polygone du terrain qui se trouve dans la zone modifiée; - une unité de tessellation subdivise chacun des polygones sélectionnés en plusieurs sous-polygones; - une unité de calcul calcule les coordonnées spatiales des sous-polygones selon les données d'altitude (H); - les sous-polygones sont affichés sur SR2.
EP13726669.8A 2012-04-05 2013-04-03 Procédé de reproduction synchrone d'une réalité virtuelle dans un système de simulation distribué Ceased EP2836992A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012103011A DE102012103011A1 (de) 2012-04-05 2012-04-05 Verfahren zur synchronen Wiedergabe einer virtuellen Realität in einer verteilten Simulationsvorrichtung
PCT/DE2013/100119 WO2013149616A1 (fr) 2012-04-05 2013-04-03 Procédé de reproduction synchrone d'une réalité virtuelle dans un système de simulation distribué

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EP2836992A1 true EP2836992A1 (fr) 2015-02-18

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US (1) US9208752B2 (fr)
EP (1) EP2836992A1 (fr)
CA (1) CA2868370A1 (fr)
DE (1) DE102012103011A1 (fr)
WO (1) WO2013149616A1 (fr)

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KR101555426B1 (ko) * 2014-02-07 2015-09-25 고려대학교 산학협력단 지형 렌더링 방법 및 장치
DE102016103057A1 (de) * 2016-02-22 2017-08-24 Krauss-Maffei Wegmann Gmbh & Co. Kg Verfahren zur Ermittlung und Darstellung von Veränderungen in einer ein reales Gelände und darin befindliche reale Objekte umfassenden Realumgebung
CN114424248A (zh) * 2019-09-12 2022-04-29 日本电信电话株式会社 预处理装置、判定系统、预处理方法以及预处理程序
KR102568058B1 (ko) * 2020-09-22 2023-08-22 (주)클로버추얼패션 부분 시뮬레이션 방법 및 장치
CN112885163B (zh) * 2021-02-01 2022-05-06 临沂大学 一种思想政治教育智能教学装置系统
CN115081071B (zh) * 2022-06-23 2024-09-20 中国长江三峡集团有限公司 河道断面冲淤演变模拟方法、装置、电子设备及存储介质

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DE102012103011A1 (de) 2013-10-10
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US20150054714A1 (en) 2015-02-26
US9208752B2 (en) 2015-12-08

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