frontw / FlightGoggles

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT FAST Lab.

FlightGoggles

Documentation, Installation, & Usage Instructions

Please refer to the wiki-page for code documentation, installation, usage instructions. An FAQ is also available there.

Downloading Environment Assets / Using FlightGoggles with Unity3D

Please refer to the Unity3D Usage Guide.

Description

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS.

Citation

If you find this work useful for your research, please cite:

@inproceedings{guerra2019flightgoggles,
  doi = {10.1109/iros40897.2019.8968116},
  url = {https://doi.org/10.1109/iros40897.2019.8968116},
  year = {2019},
  month = nov,
  publisher = {{IEEE}},
  author = {Guerra, Winter and Tal, Ezra and Murali, Varun and Ryou, Gilhyun and Karaman, Sertac},
  title = {{FlightGoggles}: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality},
  booktitle = {2019 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}

FlightGoggles: Paper, Website

Papers using this work

@inproceedings{antonini2018blackbird,
  title={The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight},
  author={Antonini, Amado and Guerra, Winter and Murali, Varun and Sayre-McCord, Thomas and Karaman, Sertac},
  booktitle={International Symposium on Experimental Robotics, {ISER} 2018, Buenos Aires,
               Argentina, November 5-8, 2018.},
  year={2018}
}

@inproceedings{sayremccord2018visual,
  title={Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop},
  author={Sayre-McCord, Thomas and
  Guerra, Winter and
  Antonini, Amado and
  Arneberg, Jasper and
  Brown, Austin and
  Cavalheiro, Guilherme and
  Fang, Yajun and
  Gorodetsky, Alex and
  McCoy, Dave and
  Quilter, Sebastian and
  Riether, Fabian and
  Tal, Ezra and
  Terzioglu, Yunus and
  Carlone, Luca and
  Karaman, Sertac},
  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2018}
}

Blackbird Dataset: Paper, Website

Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop: Paper

Core Contributers

Winter Guerra
Ezra Tal
Varun Murali
Sertac Karaman