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FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation (1905.11377v2)

Published 27 May 2019 in cs.RO

Abstract: FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s). While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex extrinsic dynamics are generated organically through the natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest.

Citations (100)

Summary

  • The paper introduces FlightGoggles, a modular framework that combines photorealistic rendering via photogrammetry with authentic dynamics and synthetic sensor data for advanced robotics simulations.
  • FlightGoggles uses photogrammetry to create highly detailed digital replicas of real-world objects, enabling faster asset creation and higher fidelity visual environments for sensor simulation than traditional methods.
  • The framework uniquely merges real vehicle dynamics captured by motion systems with synthetic sensor inputs within a virtual setting, supporting hardware-in-the-loop testing and dynamic interaction scenarios exemplified in the AlphaPilot challenge.

Overview of FlightGoggles: A Photorealistic Simulator for Robotics Research

The paper "FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation" introduces a cutting-edge simulation system specifically designed to address the increasing demands of realistic simulations in robotics research. Developed by Winter Guerra and colleagues, this framework stands out by ingeniously combining photorealistic rendering and authentic dynamics with motion-capture integration, facilitating diverse research endeavors from autonomous navigation to dynamic human-vehicle interactions.

Key Features and Contributions

FlightGoggles presents two primary contributions to the field of robotics simulation:

  1. Photogrammetry-Based Simulations: By employing photogrammetry, FlightGoggles integrates detailed digital replicas of real-world objects, providing an exceptionally realistic environment for sensor simulations. This method surpasses traditional 3D modeling by vastly reducing the time for asset creation while delivering higher fidelity renderings, crucial for robotics applications.
  2. Hybrid Dynamics and Exteroceptive Simulations: The framework uniquely merges real-world dynamics with synthetic sensor data. In practice, this synergy allows robotic vehicles to experience actual inertial and proprioceptive interactions while operating within a richly detailed virtual setting. This fusion is achieved by capturing vehicle and human motions through advanced motion capture systems and portraying them realistically within the simulator.

Technical Insights

FlightGoggles leverages advancements in graphical computing and motion capture technologies, enabling realistic simulations that cater to both data-rich applications and interaction-based scenarios. The use of game engines like Unity ensures photorealistic graphics, supporting diverse environments and customizable dynamic scenarios, which are essential for evaluating robotic perception and control strategies.

The system architecture supports seamless interfacing with physical vehicles in motion capture environments, offering true hardware-in-the-loop simulation. Through modular design, FlightGoggles accommodates various sensor inputs and dynamics, enabling researchers to flexibly explore mission-critical algorithms under controlled yet realistic conditions.

Empirical Applications

FlightGoggles' application is exemplified by its pivotal role in the AlphaPilot autonomous drone racing challenge, where it served as the simulation platform for evaluating team submissions. The setup involved real-world sensor data and dynamic environments, presenting contestants with robust scenarios to test their algorithms in autonomous guidance, navigation, and control.

During testing phases, the simulator facilitated rigorous evaluations using high-fidelity exteroceptive sensors, further emphasizing its relevance in rapid prototyping and iterative development of perception-driven robotic systems. Additionally, dynamic actor inclusion allows for testing complex human-robot and multi-vehicle interactions within safe, controlled virtual environments.

Implications and Future Directions

FlightGoggles underscores a significant stride towards realistic robotic simulations needed to train and validate machine learning and perception algorithms. Its open-source distribution invites a collaborative enhancement of simulation assets and capabilities. Moving forward, the scalability potential of cloud-based simulations and further improvements in photorealistic rendering and physics fidelity could broaden its applications, particularly in agility-focused and reinforcement learning paradigms.

In conclusion, this paper illustrates a vital technology bridge in robotics research, where the confluence of photorealism, dynamics, and real-world interactions within a modular framework enables comprehensive experimental research and development of autonomous systems. The implications of such a simulation system extend beyond current applications, inviting innovations across various domains necessitating high-fidelity virtual testing environments.

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