Fig. 1. Whole architecture of semi-physical simulation platform

Fig. 2. Sand table image effect comparison under different exposure settings

Fig. 3. System software architecture

Fig. 4. Structure diagram of truss robot body

Fig. 5. Structure diagram of control system

Fig. 6. Interface diagram of PLC control system

Fig. 7. Schematic diagram of simulated turntable

Fig. 8. 3D reconstruction simulation of miniature environment

Fig. 9. Simulation of vehicle target recognition in miniature environment

Fig. 10. Simulation evaluation indexes of target recognition under different algorithms

Fig. 11. Image brightness registration