Please refer to the project website for project information and our code documentation for installation and usage instructions.
A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS.
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},
}@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
Winter Guerra
Ezra Tal
Varun Murali
Gilhyun Ryou
Sertac Karaman