choyaa/AirZoo-Engine

AirZoo Engine

AirZoo Engine is a research-oriented aerial rendering and simulation toolkit developed for the AirZoo project. It provides utilities for configuring UAV camera trajectories, controlling the Unreal and AirSim rendering client, and exporting synchronized sensor outputs when used with Cesium for Unreal.

Important Notice

This repository releases only the original AirZoo Engine software, configuration templates, and documentation developed by the authors. It does not distribute the AirZoo training dataset, Cesium-streamed map tiles, textures, meshes, depth maps, or other content obtained through third-party mapping services.

Cesium for Unreal, Unreal Engine, and AirSim are governed by their own licenses and terms. Users must obtain any required accounts, credentials, and permissions directly from the corresponding providers.

The availability of this software does not grant permission to download, extract, store, redistribute, or use third-party map content for machine-learning training, testing, validation, or fine-tuning. Users are solely responsible for determining whether their intended use complies with all applicable third-party terms and institutional policies.

Repository Contents

Path	Description
README.md	This document
LICENSE	License for original AirZoo Engine code and documentation only
THIRD_PARTY_NOTICES.md	Third-party software and service notices
docs/	User documentation and demonstration media
examples/	Example pose files (trajectory templates)
config/	Configuration templates (e.g. AirSim camera settings)
ObjectDetectionScene.exe and UE pack	Packaged Unreal / Cesium for Unreal / AirSim scene client
checksums.sha256	Checksums for published metadata files

Regional note: The current public release supports the Switzerland scene only. Pose coordinates must fall within Cesium coverage of that region. Map content is streamed through Cesium for Unreal under the terms of your Cesium account.

Related data: Training renders are not included here. Request access separately at choyaa/AirZoo-Data.

Related Software

• Training data (gated): https://huggingface.co/datasets/choyaa/AirZoo-Data
• Rendering client (GitHub): https://github.com/nudt-sawlab/AirZoo
• Evaluation benchmarks (separate dataset): https://huggingface.co/datasets/RingoWRW97/AirZoo-Real
• Project website: https://nudt-sawlab.github.io/AirZoo/

Download

pip install -U huggingface_hub
hf download choyaa/AirZoo-Engine `
  --repo-type dataset `
  --local-dir AirZooEngine

Installation (client)

git clone https://github.com/nudt-sawlab/AirZoo.git
cd AirZoo
conda env create -f enviroment.yaml
conda activate airzoo
mkdir "$env:USERPROFILE\Documents\AirSim" -Force
copy .\config\settings.json "$env:USERPROFILE\Documents\AirSim\settings.json"

Run AirZooEngine/ObjectDetectionScene.exe, press F to connect AirSim, and keep the scene open while rendering.

The current public release supports the Switzerland scene only. Pose coordinates must fall within Cesium coverage of that region. Map content is streamed through Cesium for Unreal under the provider terms that apply to your account.

Demonstration video: docs/ue_render.mp4

Data Availability

The previously distributed synthetic training renders are no longer publicly available because they contain content derived from a third-party mapping service. The AirZoo evaluation benchmarks, where separately provided, are governed by their corresponding repository notices and source-data terms.

Third-Party Services and Attribution

• Cesium for Unreal is third-party software used to stream map content into Unreal Engine.
• Unreal Engine is third-party software.
• AirSim is third-party software.
• Map tiles and related geospatial content obtained through Cesium are not covered by the AirZoo software license.
• Users must retain any attribution required by Cesium and related providers.
• SAW Lab does not license or authorize redistribution of Cesium-streamed map content.

See THIRD_PARTY_NOTICES.md.

License

The original source code authored by the AirZoo team is provided under the license in LICENSE.

That license applies only to the original AirZoo Engine code and documentation for which the authors hold the necessary rights. It does not apply to Unreal Engine, Cesium for Unreal, AirSim, third-party binaries, Cesium-streamed map content, imagery, terrain, meshes, textures, cached tiles, or rendered content derived from those services.

See THIRD_PARTY_NOTICES.md before using or redistributing any component.

Citation

@article{cheng2026airzoo,
  title={AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision},
  author={Cheng, Xiaoya and Wu, Rouwan and Liu, Xinyi and Cui, Zeyu and Liu, Yan and Zhao, Na and Liu, Yu and Zhang, Maojun and Yan, Shen},
  journal={arXiv preprint arXiv:2604.26567},
  year={2026}
}

Acknowledgments

AirZoo Engine builds upon Unreal Engine, Cesium for Unreal, and Microsoft AirSim. Map data used with the renderer is obtained through Cesium. These third-party systems remain governed by their respective licenses and terms.