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MCS-Sim: A Photo-Realistic Simulator for Multi-Camera UAV Visual Perception Research

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Опубліковано в::Drones vol. 9, no. 9 (2025), p. 656-681
Автор: Qi Qiming
Інші автори: Wang Guoyan, Pan Yonglei, Fan Hongqi, Li, Biao
Опубліковано:
MDPI AG
Предмети:
Simultaneous localization and mapping
Accuracy
Datasets
Virtual prototyping
Data acquisition
Visual perception
Hardware-in-the-loop simulation
Cameras
Closed loops
Unmanned aerial vehicles
Three dimensional flow
Engines
Localization
Virtual reality
Visual perception driven algorithms
Simulation
Physics
Image reconstruction
Computer vision
Sensors
Autonomous navigation
Algorithms
Semantics
Synthetic data
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Короткий огляд:Multi-camera systems (MCSs) are pivotal in aviation surveillance and autonomous navigation due to their wide coverage and high-resolution sensing. However, challenges such as complex setup, time-consuming data acquisition, and costly testing hinder research progress. To address these, we introduce MCS-Sim, a photo-realistic MCS simulator for UAV visual perception research. MCS-Sim integrates vision sensor configurations, vehicle dynamics, and dynamic scenes, enabling rapid virtual prototyping and multi-task dataset generation. It supports dense flow estimation, 3D reconstruction, visual simultaneous localization and mapping, object detection, and tracking. With a hardware-in-loop interface, MCS-Sim facilitates closed-loop simulation for system validation. Experiments demonstrate its effectiveness in synthetic dataset generation, visual perception algorithm testing, and closed-loop simulation. Here we show that MCS-Sim significantly advances multi-camera UAV visual perception research, offering a versatile platform for future innovations.
ISSN:2504-446X
DOI:10.3390/drones9090656
Джерело:Advanced Technologies & Aerospace Database