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A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments

Müller, Marcus Gerhard and Durner, Maximilian and Gawel, Abel and Stürzl, Wolfgang and Triebel, Rudolph and Siegwart, Roland (2021) A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 27 Sep - 1 Oct 2021, Prague (online). doi: 10.1109/IROS51168.2021.9636644. ISBN 978-166541714-3. ISSN 2153-0858.

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Abstract

Suitable datasets are an integral part of robotics research, especially for training neural networks in robot perception. However, in many domains, suitable real-world data are scarce and cannot be easily obtained. This problem is especially prevalent for unstructured outdoor environments, in particular, planetary ones. Recent advances in photorealistic simulations help researchers to simulate close-to-real data in many domains. Yet, there exists no high-quality synthetic data for planetary exploration tasks. Also, existing simulators lack the fidelity required for generating planetary data, which is inherently less structured than human environments. Synthetic planetary data requires careful modeling and annotation of many different terrain aspect and details, such as textures and distributions of rocks, to become a valuable test-bed for robotics. To fill this gap, we present a novel simulator specifically designed for the needs of planetary robotics visual tasks, but also applicable for other outdoor environments. Our simulator is capable of generating large varieties of (planetary) outdoor scenes with rich generation of meta data, such as multi-level semantic and instance annotations. To demonstrate the wide applicability of this new simulator, we evaluate its performance on typical robotics applications, i.e. semantic segmentation, instance segmentation, and visual SLAM. Our simulator is accessible under https://github.com/DLR-RM/oaisys.

Item URL in elib:https://elib.dlr.de/145997/
Document Type:Conference or Workshop Item (Speech)
Title:A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Müller, Marcus GerhardUNSPECIFIEDhttps://orcid.org/0000-0003-4283-6693UNSPECIFIED
Durner, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0001-8885-5334UNSPECIFIED
Gawel, AbelAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0003-2919-4040UNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDhttps://orcid.org/0000-0003-2440-5857UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Siegwart, RolandAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0002-2760-7983UNSPECIFIED
Date:2021
Journal or Publication Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/IROS51168.2021.9636644
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:simulation terrain unknown pholorealisitc photorealism space planetary outdoor unstructured environments pipeline blender robotic computer vision
Event Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Prague (online)
Event Type:international Conference
Event Dates:27 Sep - 1 Oct 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Müller, Marcus Gerhard
Deposited On:22 Nov 2021 17:40
Last Modified:29 Sep 2022 13:35

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