Airborne Vision Sensor Detection Performance Simulation

This paper presents an implementation of sensor performance algorithms in the Real-Time Multi UAV Simulator (RMUS). The RMUS was developed to simulate missions to be performed by the Brumby Mk III UAVs at the Australian Centre for Field Robotics (ACFR). Most typical missions rely on the use of onboard mission sensors, vision in particular. It is therefore important to have an indication of the expected performance of the sensors given a particular type of mission trajectory prior to the flight. The algorithms presented allow simulation of the sensor footprint on the ground including the relative quality (pixel density) of sensor return within the footprint. The simulation aids in designing and validating trajectories for observing ground based features.