Pdmvince

Vincent de Marignac’s final Master project at Cyberbotics

Under the supervision of Prof. Mark Pauly of LGG and Fabien Rohrer of Cyberbotics

Welcome to this project’s wiki. I will post updates regularly about my work on the updates page.

​Here is a work plan I will refine if needed:

Part I
weeks 1-5:    Getting familiar with work environment, workflow, Webots codebase, etc. To that end, I have participated in fixing bugs in various places of the code, used Github as a work tool and implemented new features.

Part II
weeks 6-9:    Object appearances, shadows and lights. Investigate appearances and techniques that help making objects in the scene look more realistic.
In parallel, explore possibilities for rendering good-looking, realistic, real-time lighting effects and shadows. For example establish pros and cons of stencil shadows vs. shadow maps in the context of Webots, investigate shadow mapping techniques such as modulative and additive, LiSPSM, PSSM, etc. Define quality and performance measures.

weeks 10-14:  Based on findings, design features and models to be implemented, focus first on shadows. Start implementing new basic shadowing system into webots, test and evaluate it.

Part III
weeks 15-20:  Perfect shadow system with more advanced techniques while logging performance. Start implementing and testing appearance features.

Part IV
weeks 21-26:  Finish implementing appearance and shadow system features. Evaluate definitively quality and performance based on predefined measures.