Table 3 Simulator comparison.
From: Large scale analysis of dataset and simulation biases in SLAM research
Simulator | Photo-realistic | Dynamic lighting | Dynamic objects | Dynamic weather | Multiple agents | 3D depth | Real counterpart | Customizable | Outdoor | User manual |
|---|---|---|---|---|---|---|---|---|---|---|
Gazebo62 | Â | Â | Â | Â | \(\checkmark\) | 2D scan | Â | Â | Â | \(\checkmark\) |
AI2-THOR20 | \(\checkmark\) | Â | Â | Â | \(\checkmark\) | Â | \(\checkmark\) | Â | Â | \(\checkmark\) |
Gibson21 | \(\checkmark\) | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
HoME22 | Â | Â | Â | Â | \(\checkmark\) | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
MINOS23 | \(\checkmark\) | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
Habitat56 | \(\checkmark\) | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
DeepMind54 | Â | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
Malmo63 | Â | Â | \(\checkmark\) | Â | \(\checkmark\) | Â | Â | \(\checkmark\) | Â | \(\checkmark\) |
ViZDoom64 | Â | Â | \(\checkmark\) | Â | \(\checkmark\) | \(\checkmark\) | Â | \(\checkmark\) | Â | \(\checkmark\) |
CARLA13 | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) |
AirSim14 | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | Â | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) |
GTAV ® | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) \(\checkmark\) | \(\checkmark\) | ® |
Replica65 | \(\checkmark\) | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
Active Vision66 | \(\checkmark\) | Â | Â | Â | Â | \(\checkmark\) | Â | Â | Â | \(\checkmark\) |
