UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-Generation Framework

TY - GEN

T1 - UNav-Sim

T2 - IEEE International Conference on Advanced Robotics

AU - Amer, Abdel Hakim Khaled Saad Amin

AU - Alvarez Tunon, Olaya

AU - Ugurlu, Halil Ibrahim

AU - Sejersen, Jonas le Fevre

AU - Brodskiy, Yury

AU - Kayacan, Erdal

PY - 2024/2/1

Y1 - 2024/2/1

N2 - Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting their ability to transfer algorithms from simulation to real-world applications. To address this limitation, we introduce UNav-Sim, which, to the best of our knowledge, is the first simulator to incorporate the efficient, high-detail rendering of Unreal Engine 5 (UE5). UNav-Sim is open-source11https://github.com/open-airlab/UNav-Sim and includes an autonomous vision-based navigation stack. By supporting standard robotics tools like ROS, UNav-Sim enables researchers to develop and test algorithms for underwater environments efficiently.

AB - Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting their ability to transfer algorithms from simulation to real-world applications. To address this limitation, we introduce UNav-Sim, which, to the best of our knowledge, is the first simulator to incorporate the efficient, high-detail rendering of Unreal Engine 5 (UE5). UNav-Sim is open-source11https://github.com/open-airlab/UNav-Sim and includes an autonomous vision-based navigation stack. By supporting standard robotics tools like ROS, UNav-Sim enables researchers to develop and test algorithms for underwater environments efficiently.

M3 - Article in proceedings

SN - 979-8-3503-4230-7

T3 - International Conference on Advanced Robotics (ICAR)

BT - 2023 21st International Conference on Advanced Robotics (ICAR)

Y2 - 31 December 2023

ER -