DiverSim

DiverSim is an innovative simulating tool to generate synthetic pedestrian data with a focus on diversity and inclusion. Built on Unreal Engine 5, DiverSim creates balanced datasets featuring equal proportions of genders, ethnicities, and individuals with disabilities. Users can customize various simulation parameters, including atmospheric conditions, fisheye camera parameters and characteristics of the pedestrians, while data is annotated in ASAM OpenLABEL format. As an open-source tool, DiverSim enables researchers and developers to train and validate AI models that effectively represent diverse pedestrian scenarios.

How To Use

To understand how to perform a recording with the DiverSim tool, please refer to the example_record.py script. This script outlines the essential simulation parameters, specifies the path to the executable (see links below), and designates the save location for the output data. It effectively manages the execution of the simulator, configures the simulation settings, and captures and annotates the generated data.

Simulation Settings

A file called simulation_settings.json is placed next to the packaged executable (see download link below) that controls different variables during the simulation. This file can be modified either manually or using the Python API, as shown in the example_record.py script.

Json field	Description
map	Chooses between the different scenarios for the simulation. Options are: - ScenarioCrossing or 0 - ScenarioParking or 1 - ScenarioPickup or 2 (not available yet)
accelerateBeginning	Accelerates the speed of the simulation at the beginning for 2 seconds. This ensures slow walking classes appear crossing the street.
timeScale	Controls the speed of the pedestrian simulation. 1 is normal speed, 0.5 is half speed, 2 is double speed.
timeOfDay	Position of the sun/moon. Value goes from 0 to 2400 (hundreths of an hour). Car lights and street lights turn off during the day, between [650, 1750] which are sunrise and sunset, respectively.
sunAngle	Angle of the sun around z-axis. Range between 0 and 360. If set to -1, the angle will be random on every simulation (very useful for generating diverse light conditions).
weather	Controls the appearence of the sky. Current options are: Sunshine, Cloudy, Overcast, FogLow, FogHigh, RainLow, RainHigh, SnowLow, SnowHigh.
maxAgentCount	Maximum number of agents allowed to exist concurrently in the simulation.
spawnPolicy	Decides how agents are spawned. The different modes are - random Agents are spawned randomly regardless of class. - DisabilityNormalized Each disability class is given a chance to spawn, indicated by the spawnChanceDisability field. - DisabilityNormalizedUnique Same as above but all pedestrian classes are unique, no two same pedestrians with the same characteristics will spawn. This is the policy that should be selected for the ground truth 2D bounding box annotation.
spawnChanceDisability	How likely it is for a disability class to spawn. Values are normalized afterwards, so (A = 1, B = 2) is the same as (A = 0.33, B = 0.66).
carDensity	Percentage of car slots occupied by cars (parking, road, etc). Range between 0 and 1, and -1for random.
cameraPosition	3D Vector that determines the spawn position of the camera

Simulation Controls

Key	Description
WASD	Pitch and Yaw of camera.
QE	Roll of camera.
ArrowKeys	Move forwards or sideways.
Backspace	Reset simulation. The simulation_settings.json file is reloaded when doing this, so it can be edited to change the simulation parameters without closing the sim.
Escape	Close the simulation.

Licensing

Crutches by Mouch is licensed under Creative Commons Attribution.
Bridge street light 3 by Streetlights & ETC is licensed under Creative Commons Attribution.

All the assets and animations used in this simulator have been carefully chosen so that their licenses allow their use for AI training and validation purposes.

The licensing of DiverSim is subject to the Unreal Engine End User License Agreement (EULA). Please refer to the Unreal Engine EULA for specific details regarding the usage and distribution of the simulator. The EULA sets the terms and conditions for using Unreal Engine and any content generated using it, including this tool.

As a user of DiverSim, it is your responsibility to comply with the terms specified in the Unreal Engine EULA. Ensure that you read and understand the EULA before using this simulator for any purpose.

Atributions

DiverSim was generated employing the AirSim Simulator on Unreal Engine 5 as part of the European project AWARE2ALL.

Citation

If you use DiverSim in your research, publications, or academic work, please cite this Github repository.

Contact

For any questions or inquiries regarding the DiverSim simulation tool, please contact [email protected] or [email protected].

Download links

• You can download the simulator executable here.
• You can also download synthetic data samples generated with DiverSim here.