Reconstructing Across Illumination
A Synthetic Dataset for UAV 3D Reconstruction under Varying Light Conditions

IllumUAV-Sim is a high-fidelity synthetic dataset designed for UAV 3D reconstruction under diverse illumination conditions. Built with Unreal Engine 5, the dataset provides 19,836 high-resolution images (8196×5460 pixels) with pixel-aligned views captured under six distinct lighting conditions that span the full day–night cycle. Each frame is annotated with dense geometric ground truth, including depth maps, surface normals, and camera parameters. By offering comprehensive coverage of illumination variation and accurate geometric annotations, IllumUAV-Sim enables robust evaluation and training of methods for low-light UAV perception and 3D reconstruction.