ACSim

ACSim — A Novel Acoustic Camera Simulator with Recursive Ray Tracing, Artifact Modeling, and Ground Truthing
📄 Published in IEEE Transactions on Robotics (TRO), 2025

🚧 Project Status

This repository is under active development.
Please refer to the documentation for tutorials and setup instructions. If there are any questions, you can directly send an email to me. wang@race.t.u-tokyo.ac.jp

⚡ Quick Start

1. Open demo/test.blend in Blender
2. Install the add-on SonarRT.zip
3. Press F12 to render the scene

🛠️ Development (Built-in Ray-Mesh Intersection)

1. Open built-in/wakachiku.blend
2. Go to the Scripting tab
   • Run sonarRT_plugin.py (click ▶️)
   • Run sonarRT_UIpanels.py (click ▶️)

🚀 Optimized Version

An accelerated version is available in the optimized folder.
Please follow the documentation for environment setup and usage.

📦 Synthetic Dataset

We provide a synthetic dataset used in training and evaluation:

• Flow
• 3D Geometry
• Segmentation Masks

📚 Documentation

Full documentation is available here:
👉 ACSim Documentation

📝 Citation

If you use ACSim in your research or find this work useful, please cite the following paper:

@ARTICLE{acsim, 
  author = {Wang, Yusheng and Ji, Yonghoon and Tsuchiya, Hiroshi and Ota, Jun and Asama, Hajime and Yamashita, Atsushi},
  title = {ACSim: A Novel Acoustic Camera Simulator With Recursive Ray Tracing, Artifact Modeling, and Ground Truthing}, 
  journal = {IEEE Transactions on Robotics}, 
  year = {2025},
  volume = {41},
  pages = {2970--2989},
}