MMUSV-Sim: 多USV協調認識のための認識指向シミュレーション・データ生成プラットフォーム
MMUSV-Sim: A Perception-Oriented Simulation and Data-Generation Platform for Multi-USV Cooperative Perception
複数の無人水上艇（USV）の協調認識を研究するための、Unreal Engine 5とProject AirSimに基づく認識指向の海事シミュレーション・データ生成プラットフォームを提案した。島、外洋、港の環境、多様な船舶アセット、波や天候の設定、複数艇の動きをサポートし、RGB、深度、セマンティック、LiDAR、レーダーなどのマルチモーダルデータと共有アノテーションを生成する。
著者: Ziao Li, Jianxiong Ye, Biao Tang, Leping Zhang, Kun Zuo, Siyu Huang, Chenqiang Gao
分類: cs.RO, cs.CV
原文アブストラクト
Cooperative perception among multiple unmanned surface vehicles (USVs) combines complementary observations to extend maritime target sensing beyond the view range and field of a single platform. Developing such systems at scale calls for a unified workflow for configurable multi-USV scenarios, multimodal acquisition, and shared annotations. We present MMUSV-Sim, a perception-oriented maritime simulation and data-generation platform built on Unreal Engine 5 and Project AirSim. It provides island, open-sea, and port environments; configurable weather, time of day, and wave conditions; a diverse vessel asset library; and spline-based multi-vessel motion. MMUSV-Sim acquires RGB, depth, semantic, LiDAR, and radar observations across multiple USVs and captures a common world state for per-agent annotation export. Experiments verify that the configured wave settings produce the intended changes in vessel heave, roll, and pitch, and evaluate the geometric consistency between projected annotations and semantic renderings. In LiDAR-based cooperative BEV vessel detection experiments on the generated multi-USV dataset, Early Fusion achieves an AP@0.5 of 72.74, compared with 45.54 using a single USV.