DLR-RM/oaisys

Welcome to OAISYS

OAISYS (Outdoor Artificial Intelligent SYstems Simulator) is a simulator for unstructured outdoor environments that specifically considers the requirements of planetary robotics. The simulator is capable of generating large varieties of (planetary) outdoor scenes with rich generation of metadata, such as multi-level semantic and instance annotations. OAISYS is built upon the open source engine Blender, without requiring expert knowledge in rendering pipelines. For further information on how OAISYS works, we refer to the following presentation and the corresponding IROS21 conference paper, "A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments".

To get started with OAISYS we recommand you to watch the OAISYS video and complete the Basic Tutorial.

Important: Please be aware this repository is still under construction!

Requirements

The current version of OAISYS works under Linux and is tested with the LTS Blender version 2.93.

Tutorials

Users

• Basic Tutorial: If this is the first time you are using OAISYS, you should go through this tutorial.
• Forest Scene: under construction
• Water World: under construction
• Asteroid Crater Creation: README for the IEEE Aerospace Conference Paper "Bridging the Data Gap of Asteroid Exploration: OAISYS Extension for Synthetic Asteroids Creation"

Developers

• Basic Developer Tutorial: under construction

Citation

If you use the simulator for your work, we would like to kindly ask to reference our OAISYS paper:

@InProceedings{Mueller2021,
	author    = {M{\"u}ller, Marcus G. and Durner, Maximilian and Gawel, Abel and St{\"u}rzl, Wolfgang and Triebel, Rudolph and Siegwart, Roland},
	title     = {{A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments}},
	booktitle = {{IEEE/RSJ International Conference on Intelligent Robots and Systems}},
	year      = {2021}
}