# Render-in-the-loop aerial robotics simulator: Case Study on Yield Estimation in Indoor Agriculture

arXiv: https://arxiv.org/abs/2203.00490 · HTML: https://mlsanity.com/paper/2203.00490/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2022.

## Built on by (most cited first, 1 of 1)

- [Fiducial Marker Splatting for High-Fidelity Robotics Simulations](https://mlsanity.com/paper/2508.17012/) (2025)

## Abstract (arXiv)

Inspired by recent promising results in sim-to-real 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 yield estimation task. Our approach to yield estimation starts with aerial robotics control and trajectory planning, combined with deep learning-based pepper detection, and a clustering approach for counting fruit. The results of this case study show that we can combine real time dynamic simulation with near realistic rendering capabilities to simulate complex robotic systems.