CiThruS2: Open-source Photorealistic 3D Framework for Driving and Traffic Simulation in Real Time

Emilian Galazka, Teo Niemirepo, Jarno Vanne

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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The automotive and transport sector is undergoing a paradigm shift from manual to highly automated driving. This transition is driven by a proliferation of advanced driver assistance systems (ADAS) that seek to provide vehicle occupants with a safe, efficient, and comfortable driving experience. However, increasing the level of automation makes exhaustive physical testing of ADAS technologies impractical. Therefore, the automotive industry is increasingly turning to virtual simulation platforms to speed up time-to-market. This paper introduces the second version of our open-source See-Through Sight (CiThruS) simulation framework that provides a novel photorealistic virtual environment for vision-based ADAS development. Our 3D urban scene supports realistic traffic infrastructure and driving conditions with a plurality of time-of-day, weather, and lighting effects. Different traffic scenarios can be generated with practically any number of autonomous vehicles and pedestrians that can be made to comply with dedicated traffic regulations. All implemented features have been carefully optimized and the performance of our lightweight simulator exceeds 4K (3840 × 2160) rendering speed of 60 frames per second when run on NVIDIA GTX 1060 graphics card or equivalent consumer-grade hardware. Photorealistic graphics rendering and real-time simulation speed make our proposal suitable for a broad range of applications, including interactive driving simulators, visual traffic data collection, virtual prototyping, and traffic flow management.

Original languageEnglish
Title of host publication2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Number of pages8
ISBN (Electronic)9781728191423
Publication statusPublished - 19 Sept 2021
Publication typeA4 Article in conference proceedings
EventIEEE International Intelligent Transportation Systems Conference -
Duration: 19 Sept 202122 Sept 2021

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC


ConferenceIEEE International Intelligent Transportation Systems Conference


  • Advanced driver-assistance systems (ADAS)
  • driving simulation
  • open-source software
  • photorealism
  • traffic imaging

Publication forum classification

  • Publication forum level 0

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications


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