M.A Amiri Atashgah - PhD candidate Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
S.M.B Malaek - Professor Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran

This work presents an Aerial 3D Graphics Engine (A3DGE), which could effectively be used as an image generator in virtual implementation of a single camera Simultaneous Localization and Mapping (MonoSLAM) of a general aerial vehicle. The 3D Graphical Engine integrated with a full 6DOF aircraft dynamic simulator with its trajectory generator work as a complete package. The A3DGE generates and accumulates real-time images of a general camera installed on the aerial vehicle. We effectively exploit C++, DirectX and HLSL to develop the 3D engine and all its associated visual effects, such as lighting and climate conditions.

3D Engine- HLSL- Virtual Environment- DirectX