Urban Environment Simulation

This repository contains city environment simulation with Unity3D.

Currently, we support the two urban scenes:

• small: for synthetic data collection and with integrated robot model and ROS bridge, based on WindridgeCity;
• big: for synthetic data collection with high definition renderring and day-night change, based on CScape.

Content

• Installation

• Synthetic data collection:

  1. image segmentation, depth estimation, normals and optical flow with ml-imagesynthesis.
  2. localization and odometry.
  3. 3D-bounding boxes.

• City traffic simulation: includes animated pedestrians moving on sidewalks and pedestrian crossings as well as cars, following predefined routes on the roads.

• ROS-based mobile robot simulation with the following sensors:

  1. lidar Velodyne VLP-16,
  2. frontal RGB-camera,
  3. IMU,
  4. semantic local map which is rendered as a video stream from a virtual camera above the robot.