Research
VisionSIM: A Physically Grounded Multi-Modal Simulator for Robot Perception
VisionSIM is a unified simulation platform that models the raw physical measurement process for diverse sensors including event, SPAD, iToF/dToF, and thermal cameras. It reproduces modality-specific failure modes such as LiDAR pileup, iToF phase wrapping, event camera refractory drops, and thermal history-dependent emission. The platform enables principled cross-modality comparison on identical scenes and includes a large indoor dataset with synchronized raw measurements and ground-truth annotations.
robotic perceptionsensor simulationmulti-modal sensing