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Interactive OAISYS: A photorealistic terrain simulation for robotics research

Müller, Marcus Gerhard and Lim, Jaeyoung and Schmid, Lukas and Blum, Hermann and Stürzl, Wolfgang and Gawel, Abel and Siegwart, Roland and Triebel, Rudolph (2022) Interactive OAISYS: A photorealistic terrain simulation for robotics research. In: ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment. ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment, Philadelphia, USA.

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Abstract

Photorealistic simulation pipelines are crucial for the development of novel robotic methods and modern machine vision approaches. Simulations have been particularly popular for generating labeled synthetic data sets, which otherwise would require vast efforts of manual annotation when using real data. However, these simulators are usually not interactive, and the data generation process cannot be interrupted. Therefore, these simulators are not suitable for evaluating active methods, such as active learning or perception aware path planning, which make decisions based on the observed perception data. In order to address this problem, we propose a modified version of the simulator OAISYS, a photorealistic scene simulator for unstructured outdoor environments. We extended the simulator in order to use it in an interactive way, and implemented a developer-friendly RPC interface so that it is easy for any environment to integrate into the simulator. In this paper, we demonstrate the functionality of the extension on 3D scene reconstruction to show its future research potential and provide an example of the implementation using the middleware ROS. The code is publicly available under https://github.com/DLR-RM/oaisys

Item URL in elib:https://elib.dlr.de/188049/
Document Type:Conference or Workshop Item (Speech)
Title:Interactive OAISYS: A photorealistic terrain simulation for robotics research
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Müller, Marcus GerhardMarcus.Mueller (at) dlr.dehttps://orcid.org/0000-0003-4283-6693
Lim, JaeyoungAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0002-5695-4511
Schmid, LukasAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0002-3961-8145
Blum, HermannAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0002-1713-7877
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.dehttps://orcid.org/0000-0003-2440-5857
Gawel, AbelAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0003-2919-4040
Siegwart, RolandAutonomous Systems Lab, ETH Zurichhttps://orcid.org/0000-0002-2760-7983
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:May 2022
Journal or Publication Title:ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:robotics, machine vision, machine learning, simulation, photorealistic, terrain segmentation, autonomous systems, blender
Event Title:ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment
Event Location:Philadelphia, USA
Event Type:Workshop
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:05 Sep 2022 12:01
Last Modified:14 Sep 2022 10:04

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