2022
DOI: 10.48550/arxiv.2203.00490
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Render-in-the-loop aerial robotics simulator: Case Study on Yield Estimation in Indoor Agriculture

Abstract: Inspired by recent promising results in sim-toreal transfer in deep learning we built a realistic simulation environment combining a Robot Operating System (ROS)compatible physics simulator (Gazebo) with Cycles, the realistic production rendering engine from Blender. The proposed simulator pipeline allows us to simulate near-realistic RGB-D images. To showcase the capabilities of the simulator pipeline we propose a case study that focuses on indoor robotic farming. We developed a solution for sweet pepper yiel… Show more

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