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

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-...

Full description

Saved in:
Bibliographic Details
Published inarXiv.org
Main Authors Amer, Abdelhakim, Álvarez-Tuñón, Olaya, Halil Ibrahim Ugurlu, Jonas le Fevre Sejersen, Brodskiy, Yury, Kayacan, Erdal
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 18.10.2023
Subjects
Algorithms
Autonomous navigation
Rendering
Robotics
Simulation
Simulators
Synthetic data
Underwater robots
Working conditions
Online AccessGet full text

Cover

More Information
Summary: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-source 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.
ISSN:2331-8422