In this article, we propose a new approach for simulating trees, including their branches, sub-branches, and leaves. This approach combines the theory of biological development, mathematical models, and computer graphics, producing simulated trees and forest with full geometry. Specifically, we adopt the Lindenmayer process to simulate the branching pattern of trees and modify the available measurements and dimensions of 3D CAD developed object files to create natural looking sub-branches and leaves. Randomization has been added to the placement of all branches, sub branches and leaves. To simulate a forest, we adopt Inhomogeneous Poisson process to generate random locations of trees. Our approach can be used to create complex structured 3D virtual environment for the purpose of testing new sensors and training robotic algorithms. We look forward to applying this approach to test biosonar sensors that mimick bats' fly in the simulated environment.

中文翻译：

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通过集成 L 系统和 3D CAD 文件模拟林木

在本文中，我们提出了一种模拟树木的新方法，包括它们的树枝、子树枝和树叶。这种方法结合了生物发展理论、数学模型和计算机图形学，生成具有完整几何形状的模拟树木和森林。具体来说，我们采用 Lindenmayer 过程来模拟树木的分枝模式，并修改 3D CAD 开发对象文件的可用测量值和尺寸，以创建看起来自然的子树枝和树叶。随机化已添加到所有分支、子分支和叶子的位置。为了模拟森林，我们采用非齐次泊松过程来生成树木的随机位置。我们的方法可用于创建复杂的结构化 3D 虚拟环境，以测试新传感器和训练机器人算法。