A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments

摘要

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 multilevel 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.