FlightGoggles

Documentation, Installation, & Usage Instructions

Please refer to the project website for project information and our code documentation for installation and usage instructions.

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:

@misc{1905.11377,
  Title = {FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality},
  Author = {Winter Guerra and Ezra Tal and Varun Murali and Gilhyun Ryou and Sertac Karaman},
  Year = {2019},
  Eprint = {arXiv:1905.11377},
}

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}
}

@article{antonini202IJRR,
author = {Amado Antonini and Winter Guerra and Varun Murali and Thomas Sayre-McCord and Sertac Karaman},
title ={The Blackbird UAV dataset},
journal = {The International Journal of Robotics Research},
volume = {39},
number = {10-11},
pages = {1346-1364},
year = {2020},
doi = {10.1177/0278364920908331},
}

@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
Gilhyun Ryou
Sertac Karaman