How to Achieve
Realistic Visuals inIgnition Gazebo
Cole Biesemeyer
This research was developed with funding from the Defense Advanced Research Projects Agency (DARPA). The views, opinions,
and/or ﬁndings expressed are those of the author and should not be interpreted as representing the official views or policies ofthe Department of Defense or the U.S. Government. Distribution A - Approved for Public Release, Distribution Unlimited

Ignition Gazebo

The next generation of Gazebo

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AlbedoMetalness

Roughness

Normal3What is Physically Based Rendering? (PBR)

Gazebo Classic●●●Single color map
No reﬂections
Single surface type

Ignition Gazebo●●●

Multiple maps to controllighting
Surface accurately
reﬂects light
Multiple surface types ona single model4

5High Resolution Source Models●

Standard workﬂow for creationof 3d assets.

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Allows for optimization at anylevel.

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Realistic, detailed assets.

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Procedural texturing●

Change resolution without quality loss●

Change look of models quickly●

Consistent look across models using presets and material libraries

PBR Workﬂow

High Polygon Count

Low Polygon Count

Final Textured Model7

Why is PBR important for robotics simulators?
◦Improvements over Gazebo Classic.

◦Better for computer vision systems.

◦Brings Ignition Gazebo closer to the visual ﬁdelity and workﬂow ofmodern game engines.

What PBR is not,◦Lighting/shadows◦Image effects

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Using PBR for the DARPA Subterranean Challenge

910How to create better content, fasterPhotogrammetry

Asset libraries

The process of using 2d images to create 3dmodels of real life objects.

Online collections of various textures andmodels that can be used as a starting point for
quickly creating 3d environments.

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Photogrammetry

12PHOTOGRAMMETRY STEPSTake Photos

Process Photos

Optimize Model

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ADVANTAGES OF PHOTOGRAMMETRY●

1:1 accuracy of real objects●Faster than traditional methods●Ultra high detail●Cost●Versatility

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How photogrammetry works with PBRAlbedo map
from scan

Normal map
from scan

Roughness created
By tweaking Albedo

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Taking photos for photogrammetry
Freestanding objects

Flat surfaces

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Taking photos for photogrammetry
Achieve neutral lighting◦Use a lightbox or studio setup◦Take photos on an overcast day◦Use delighting techniques

Delighting Techniques◦

Sometimes direct light is unavoidable◦

Software to remove highlights and shadows◦

Mix of software and manual input

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Taking photos for photogrammetry
Hardware◦◦◦Nikon D800
TripodRemote Shutter

Small object setup◦◦

Lightbox
Turntable

Software◦Reality Capture

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Asset Libraries
A resource for ﬁndingﬁnished assets○○○○○

Textures
ModelsAnimated characters
UI Elements
Audio

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What to look for when choosing models from aasset library●

Curated assets●

Assets from the same artist●Real time engine marketplaces●

Level of Detail●Licensing restrictions

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What they aren’t good for● Projects that have a very large scope.
● Projects with very speciﬁc needs.
● Projects that require accuracy of an exact
real life location.

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Looking outside the robotics
community for 3D content creators
How a dedicated content creator can increase thevisual ﬁdelity of your projects.

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CONTENT CREATORS FOR ROBOTICS PROJECTS
What a content creator offers

Where to look:●

Knowledge of 3D rendering.

●Video Game industry●How to get the most out of all assets.

●VFX industry●A creative perspective on virtualprojects.

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Architectural industry●

Ensure projects are well optimized forreal time performance.

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Studios for hire

●Universities●

Faster Development.

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Create high ﬁdelity objects for robots tointeract with.

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Create and manage large scale 3d
environments.

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Thank you!
Contact: Cole@OpenRobotics.org

Resources◦

https://ignitionrobotics.org/home◦https://www.darpa.mil/program/darpa-subterranean-challenge◦

https://unity3d.com/files/solutions/photogrammetry/Unity-Phot
ogrammetry-Workflow_2017-07_v2.pdf

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