城市历史环境指城市中历史上遗存的形体环境。
Urban historical environment is the physique the city left behind.
Gazebo不但可以对标准的机器人传感器(例如惯性度量单元、GPS接收器和单筒相机)进行建模，而且还可以对机器人环境中使用的真实固形体物理部件进行建模。
Gazebo models not only standard robot sensors (such as inertial measurement units, GPS receivers, and monocular cameras) but also real-world rigid-body physics for robotic environments.
本文对换乘衔接空间视觉环境的五个主要组成要素：形体、空间、标识、色彩和光环境分别加以论述。
The thesis respectively expounds five elements of visual environment of transfer and joint space: body, space, sign, color and light environment.
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