Research And Implementation Of 3D Visualization System For Marine Robots Based On Scene Optimization

In recent years,marine robots have been widely utilized in marine exploration,marine resource development,and oceanographic research.However,the marine environment’s complexity and unpredictability pose challenges for robot operations.To tackle this issue,researchers have integrated three-dimensional visualization technology with marine robotic systems,enabling three-dimensional visualization of marine robots and enhancing their operational capabilities.Three-dimensional visualization offers a comprehensive and intuitive perception of the environment,assisting operators in understanding the characteristics and conditions of the robot’s surroundings.It also provides vital support for designing solutions for path planning,obstacle avoidance,and more.Precisely simulating and rendering realistic marine environments enables operators to monitor and adjust the robot system status in real time,thereby improving operational efficiency and safety.Consequently,accurate simulation and rendering of realistic marine environments play a crucial role in the visualization of marine robots,particularly in the realm of real-time rendering.This study is based on scene optimization and aims to improve the visualization effect of the system scene.Aiming at the lack of realism of the marine environment in3 D scenes,the subsurface scattering effect is successfully achieved by improving the subsurface scattering approximation algorithm and introducing thickness mapping and virtual light sources.The improved algorithm has efficient computational performance,improves the rendering realism of the visualized scene,and meets the real-time rendering requirements.In addition,optimization strategies such as mesh optimization,shared materials and texture compression are used to solve problems such as slow model loading and complex data structures.By customizing the lightweight process,the model structure is optimized,the complexity is reduced,and the number of draw calls is effectively reduced to improve the loading and rendering efficiency of the scene.Additionally,the marine robot three-dimensional visualization system adopts a client-server(C/S)architecture and is developed based on the Unity3 D engine.The process begins by modeling targets such as underwater robots and unmanned boats using Solid Works.These models are then rendered using 3ds Max for mapping purposes and ultimately exported in graphics library transmission format file.For environment modeling,computer graphics technology is employed to construct the marine environment using the projection meshes method for sea surface representation.Realistic wave effects are achieved through the implementation of the Fast Fourier Transform method.Furthermore,the system incorporates functions to adjust various elements such as lighting,waves,buoyancy,and wind.The environment adjustment function enables the creation of diverse three-dimensional scenes,enhancing realism and immersion in both surface and underwater environments.Simultaneously,the system facilitates visual monitoring of the marine robot.This includes features like scene data display,marine environment adjustment,real-time data drive,control of movable mechanisms,motion trajectory display,data recording,and playback.By offering these functions,the system provides decision support to users,enabling them to perform accurate and efficient operations.Following thorough software testing,the system has demonstrated its functionality and stability,meeting the actual application requirements effectively.