Realistic Scenario Design for Inland Waterway Simulation in Unity

Abstract

This project aims to improve the simulation environment based in Unity used in DLR (German Aerospace Center) for the evaluation of SLAM (Simultaneous Localization and Mapping) algorithms. The development of a realistic environment is intended to provide higher-quality sensory data. The increase in the quality of the sensory data comes from the improved interaction of the LiDAR (Light Detection and Ranging) and IMU (Inertial Measurement Unit) sensors. The motivation of this thesis originates from challenges encountered during the project Monte Carlo Simulations to Assess SLAM systems, complete in DLR. The Monte Carlo framework requires good sensor data in order to assess the performance, robustness and consistency of SLAM algorithms. This is why it is necessary to make a realistic map. The methodology begins with the acquisition of GIS (Geographic Information System) data, which are refined in the modeling software Blender, and finally included in the Unity game engine, where the simulator is implemented. The results explain the improvements that the developed map provides compared to the base map, as well as its contribution in terms of geometry and textures.