1. A method for simulating an unmanned aerial vehicle (UAV) in a simulated environment, said method comprising: receiving an output from at least one simulated visual sensor positioned on said simulated UAV; estimating at least one parameter associated with said simulated UAV, based at least in part, on said output from said simulated visual sensor, using a first processor; determining at least one of a position and an orientation of said simulated UAV, based at least in part, on said estimate of said at least one parameter, using said first processor; and simulating said UAV in said simulated environment at said at least one of said position and said orientation, using a second processor.