  This work develops and demonstrates the integration of the SCAMP-5d vision
system into the CoppeliaSim robot simulator, creating a semi-simulated
environment. By configuring a camera in the simulator and setting up
communication with the SCAMP python host through remote API, sensor images from
the simulator can be transferred to the SCAMP vision sensor, where on-sensor
image processing such as CNN inference can be performed. SCAMP output is then
fed back into CoppeliaSim. This proposed platform integration enables rapid
prototyping validations of SCAMP algorithms for robotic systems. We demonstrate
a car localisation and tracking task using this proposed semi-simulated
platform, with a CNN inference on SCAMP to command the motion of a robot. We
made this platform available online.
