J. Eur. Opt. Society-Rapid Publ. 22, 49( 2026) 487
Fig
. 5. Eight different UAV 3D models.
Fig. 6. Available skybox environments for scene appearance diversity: Daytime, Sunset, Beautiful Pasture, Snowy Bridge, Small Harbour, Tellsplatte, and Country Road.
4 Experimental setup
This section describes the experimental protocol used to evaluate the proposed synthetic UAV swarm dataset. We introduce the implementation details, dataset partition, training configurations, and evaluation metrics.
4.1 Implementation details
All experiments are conducted on an Ubuntu 20.04 LTS system equipped with an Intel Xeon Silver CPU and a single NVIDIA RTX 3090 GPU with 16 GB for reproducibility. The software environment include CUDA 12.1, Python
Table 2. Overall statistics of the proposed synthetic UAV swarm dataset.
Property |
Value |
Number of images |
7000 |
Image resolution |
1920 1080 |
UAV instances |
31,542 |
|
Average UAVs p per ffiffiffiffiffiffi image
Small targets( wh
< 32px p)
Medium targets( 32 < ffiffiffiffiffiffi p wh
< 96px)
Large target( 96 < ffiffiffiffiffiffi wh)
|
4.5
67. 3 %
25. 1 %
7. 6 %
|