uzh-rpg/flightmare

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uzh-rpg/flightmare

uzh-rpg

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An Open Flexible Quadrotor Simulator

Flightmare - 左青龙

Flightmare is a flexible modular quadrotor simulator. Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently from each other. Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment. Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.

Website & Documentation

Installation

Installation instructions can be found in our Wiki.

Updates

17.11.2020 Spotlight Talk at CoRL 2020
04.09.2020 Release Flightmare

Publication

If you use this code in a publication, please cite the following paper PDF

@inproceedings{song2020flightmare,
    title={Flightmare: A Flexible Quadrotor Simulator},
    author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},
    booktitle={Conference on Robot Learning},
    year={2020}
}

License

This project is released under the MIT License. Please review the License file for more details.

event-based_vision_resources

rpg_svo

Semi-direct Visual Odometry

rpg_svo_pro_open

rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO

agile_autonomy

Repository Containing the Code associated with the Paper: "Learning High-Speed Flight in the Wild"

rpg_timelens

Repository relating to the CVPR21 paper TimeLens: Event-based Video Frame Interpolation

rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group

rpg_open_remode

This repository contains an implementation of REMODE (REgularized MOnocular Depth Estimation), as described in the paper.

rpg_esim

ESIM: an Open Event Camera Simulator

agilicious

Agile flight done right!

vilib

CUDA Visual Library by RPG

rpg_public_dronet

Code for the paper Dronet: Learning to Fly by Driving

high_mpc

Policy Search for Model Predictive Control with Application to Agile Drone Flight

rpg_dvs_ros

ROS packages for DVS

rpg_e2vid

Code for the paper "High Speed and High Dynamic Range Video with an Event Camera" (T-PAMI, 2019).

dslam_open

Public code for "Data-Efficient Decentralized Visual SLAM"

rpg_svo_example

Example node to use the SVO Installation.

rpg_mpc

Model Predictive Control for Quadrotors with extension to Perception-Aware MPC

rpg_vid2e

Open source implementation of CVPR 2020 "Video to Events: Recycling Video Dataset for Event Cameras"

netvlad_tf_open

Tensorflow port of https://github.com/Relja/netvlad

rpg_ultimate_slam_open

Open source code for "Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios" RA-L 2018

deep_drone_acrobatics

Code for the project Deep Drone Acrobatics.

rpg_information_field

Information Field for Perception-aware Planning

data_driven_mpc

rpg_vision-based_slam

This repo contains the code of the paper "Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study", RA-L 2022.

vimo

Visual-Inertial Model-based State and External Forces Estimator

rpg_dvs_evo_open

Implementation of EVO (RA-L 17)

deep_ev_tracker

Repository relating to "Data-driven Feature Tracking for Event Cameras" (CVPR, 2023, Award Candidate).

fault_tolerant_control

Vision-based quadrotor fault-tolerant flight controller.

rpg_event_representation_learning

Repo for learning event representations

rpg_emvs

Code for the paper "EMVS: Event-based Multi-View Stereo" (IJCV, 2018)

rpg_monocular_pose_estimator

A monocular pose estimation system based on infrared LEDs

rpg_eklt

Code for the paper "EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames" (IJCV'19)

agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

e2calib

CVPRW 2021: How to calibrate your event camera

rpg_vikit

Vision-Kit provides some tools for your vision/robotics project.

rpg_asynet

Code for the paper "Event-based Asynchronous Sparse Convolutional Networks" (ECCV, 2020).

rpg_e2depth

Code for Learning Monocular Dense Depth from Events paper (3DV20)

rpg_ig_active_reconstruction

This repository contains the active 3D reconstruction library described in the papers: "An Information Gain Formulation for Active Volumetric 3D Reconstruction" by Isler et al. (ICRA 2016) and "A comparison of volumetric information gain metrics for active 3D object reconstruction" by Delmerico et al. (Autonomous Robots, 2017).

fast

FAST corner detector by Edward Rosten

deep_uncertainty_estimation

This repository provides the code used to implement the framework to provide deep learning models with total uncertainty estimates as described in "A General Framework for Uncertainty Estimation in Deep Learning" (Loquercio, Segù, Scaramuzza. RA-L 2020).

aegnn

rpg_corner_events

Fast Event-based Corner Detection

snn_angular_velocity

Event-Based Angular Velocity Regression with Spiking Networks

DSEC

eds-buildconf

Build bootstrapping for the Event-aided Direct Sparce Odometry (EDS)

IROS2019-FPV-VIO-Competition

FPV Drone Racing VIO competition.

rpg_davis_simulator

Simulate a DAVIS camera from synthetic Blender scenes

E-RAFT

sim2real_drone_racing

A Framework for Zero-Shot Sim2Real Drone Racing

learned_inertial_model_odometry

This repo contains the code of the paper "Learned Inertial Odometry for Autonomous Drone Racing", RA-L 2023.

rpg_ramnet

Code and datasets for the paper "Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction" (RA-L, 2021)

imips_open

Matching Features Without Descriptors: Implicitly Matched Interest Points

rpg_feature_tracking_analysis

Package for performing analysis on event-based feature trackers.

rpg_svo_pro_gps

SVO Pro with GPS

sb_min_time_quadrotor_planning

Code for the project Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

mh_autotune

AutoTune: Controller Tuning for High-Speed Flight

rpg_image_reconstruction_from_events

event-based_object_catching_anymal

Code for "Event-based Agile Object Catching with a Quadrupedal Robot", Forrai et al. ICRA'23

RVT

Implementation of "Recurrent Vision Transformers for Object Detection with Event Cameras". CVPR 2023

ess

Repository relating to "ESS: Learning Event-based Semantic Segmentation from Still Images" (ECCV, 2022).

colmap_utils

Python scripts and functions to work with COLMAP

rpg_youbot_torque_control

Torque Control for the KUKA youBot Arm

rpg_time_optimal

Time-Optimal Planning for Quadrotor Waypoint Flight

rpg_blender_omni_camera

Patch for adding an omnidirectional camera model into Blender (Cycles)

rpg_vi_cov_transformation

Covariance Transformation for Visual-inertial Systems

line_tracking_with_event_cameras

sips2_open

Succinct Interest Points from Unsupervised Inlierness Probability Learning

cl_initial_buffer

Repository relating to "Contrastive Initial State Buffer for Reinforcement Learning" (ICRA, 2024).

uzh_fpv_open

Repo to accompany the UZH FPV dataset

rpg_ev-transfer

Open source implementation of RAL 2022 "Bridging the Gap between Events and Frames through Unsupervised Domain Adaptation"

ESL

ESL: Event-based Structured Light

IROS2020-FPV-VIO-Competition

FPV Drone Racing VIO Competition

flightmare_unity

authorship_attribution

rpg_event_lifetime

MATLAB Implementation of Event Lifetime Estimation

slam-eds

Events-aided Sparse Odometry: this is the library for the direct approach using events and frames

fast_neon

Fast detector with NEON accelerations

direct_event_camera_tracker

Open-source code for ICRA'19 paper Bryner et al.

timelens-pp

Dataset Download page for the BS-ERGB dataset introduced in Time Lens++ (CVPR'22)

ICRA2020-FPV-VIO-Competition

FPV Drone Racing VIO competition.

rpg_quadrotor_common

Common functionality for rpg_quadrotor_control

flymation

Flexible Animation for Flying Robots

ze_oss

RPG fork of ze_oss

slam-orogen-eds

Event-aided Direct Sparse Odometry: full system in a Rock Task component

cvpr18_event_steering_angle

Repository of the CVPR18 paper "Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars"

rpg_mpl_ros

dsec-det

Code for assembling and visualizing DSEC data for the detection task.

esfp

ESfP: Event-based Shape from Polarization (CVPR 2023)

VAPAR

rpg_single_board_io

GPIO and ADC functionality for single board computers

assimp_catkin

A catkin wrapper for assimp

aruco_catkin

Catkinization of https://sourceforge.net/projects/aruco/

dodgedrone_simulation

power_line_tracking_with_event_cameras

pangolin_catkin

dlib_catkin

Catkin wrapper for https://github.com/dorian3d/DLib