. 2022 Feb 9;22(4):1314. doi: 10.3390/s22041314

Table 1.

List of scenes and their corresponding attributes in CYRE content.

Scene Index	Background	Camera				FoV	Frame Reference	Duration	Controllability	Scene Category
Scene Index	Background	Movement	Rotation and Translation ¹	Translation Acceleration	Translation Speed	FoV	Frame Reference	Duration	Controllability	Scene Category
S001	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $14.6$ s)	Controllable	$C_{CU}$ (∼ $144.8$ s)
S002	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $14.9$ s)	Controllable
S003	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $14.8$ s)	Controllable
S004	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $14.2$ s)	Controllable
S005	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $15.6$ s)	Controllable
S006	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (∼ $15.2$ s)	Controllable
S007	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Long (∼ $28.0$ s)	Controllable
S008	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Long (∼ $27.5$ s)	Controllable
S101	Astrospace	Simple	$r_{y}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S102	Astrospace	Simple	$r_{r}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable	$C_{UA}$ (234 s)
S103	Astrospace	Simple	$r_{p}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S104	Astrospace	Simple	$t_{f}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S105	Astrospace	Simple	$t_{b}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S106	Astrospace	Simple	$t_{l}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S107	Astrospace	Simple	$t_{u}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S108	Astrospace	Simple	$t_{d}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S109	Astrospace	Complex	$(t_{f}, t_{u}, t_{d}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S110	Astrospace	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S111	Astrospace	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S112	Astrospace	Complex	$(t_{f}, r_{r}, r_{y})$	No	Fast ( $9.2$ m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S113	Astrospace	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Fast ( $9.2$ m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S114	Astrospace	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Middle ( $45^{\circ}$ )	No	Short (13 s)	Uncontrollable
S115	Astrospace	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Small ( $30^{\circ}$ )	No	Short (13 s)	Uncontrollable
S116	Astrospace	Complex	$(t_{f}, r_{r}, r_{y})$	Yes ( $160 %$ ) ²	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S117	Astrospace	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S118	Astrospace	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	Yes	Short (13 s)	Uncontrollable
S201	Urban	Simple	$r_{y}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S202	Urban	Simple	$r_{r}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable	$C_{UU}$ (371 s)
S203	Urban	Simple	$r_{p}$	No	No translation	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S204	Urban	Simple	$t_{f}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S205	Urban	Simple	$t_{b}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S206	Urban	Simple	$t_{l}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S207	Urban	Simple	$t_{u}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S208	Urban	Simple	$t_{d}$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S209	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S210	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S211	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S212	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Fast ( $9.2$ m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S213	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	No	Fast ( $9.2$ m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S214	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Middle ( $45^{\circ}$ )	No	Short (13 s)	Uncontrollable
S215	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Small ( $30^{\circ}$ )	No	Short (13 s)	Uncontrollable
S216	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S217	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S218	Urban	Complex	$(t_{f}, t_{u}, t_{d}, r_{r}, r_{y}, r_{p})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	Yes	Short (13 s)	Uncontrollable
S219	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S220	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S221	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S222	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S223	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Short (13 s)	Uncontrollable
S224	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Long (24 s)	Uncontrollable
S225	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	No	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Long (24 s)	Uncontrollable
S226	Urban	Complex	$(t_{f}, r_{r}, r_{y})$	Yes ( $160 %$ )	Moderate (4 m/s)	Large ( $90^{\circ}$ )	No	Long (24 s)	Uncontrollable

¹r_y, r_r, and r_p represent yaw, roll, and pitch rotations, and t_f, t_b, t_l, t_u, and t_d represent forward, backward, lateral, upward, and downward translations, respectively. ² The translation speed gradually increases up to 160% from the initial translation speed.