List of Datasets

UGV, UAV

AGT-CV

Cross-view collaborative perception

Paired aerial and ground observations of off-road terrain, with LiDAR, stereo, RGB, thermal, GPS and semantic segmentation labels.

Metadata: Complete Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UGV, UAV
Environment
Outdoor
Data origin
Real-world
Sensor count
8
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

4 reported

IMUs

1 reported

GNSS

2 reported

LiDAR

1 reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Not reported LiDAR SLAM KISS-ICP with GPS alignment Not reported Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Derived
Accuracy notes
The paper does not aim for centimetre-level relative localization; receiver specifications are not final trajectory accuracy.
Reference notes
UGV reference only; LiDAR odometry is rotated and anchored to an ENU frame using recorded GPS. No independent validation is established.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

UAV thermal images are warped to RGB with gradient-domain similarity matching; no pre-calibrated aerial extrinsic transform is available.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Partial cross-view overlap and vegetation occlusion.

Residual synchronization offsets up to 200 ms.

Derived UGV poses rather than independently measured ground truth.

Manual labels are scoped to Field; the other three folders use SAM3 annotations.

Cameras

ground-stereo

Model
ZED 2
Setup
Stereo
Count
1
Effective cameras
2
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Ground stereo imagery; Table 1 specifies device limits rather than confirmed released settings.

aerial-rgb

Model
Autel EVO II Dual 640T V3 visible camera
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
GPS-timestamped aerial RGB observations; alignment has residual temporal uncertainty up to 200 ms.

aerial-thermal

Model
FLIR LWIR thermal camera
Setup
Mono
Count
1
Effective cameras
1
Modality
Thermal
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Table 1 reports 640 by 512 and 30 fps as camera specifications; RGB alignment uses image matching without pre-calibrated extrinsics.

IMUs

ZED 2 integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Garmin GPS 18x 5Hz

Model or name
Garmin GPS 18x 5Hz
Count
1
Rate
Not reported
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Not reported
Heading output
Not reported

Autel onboard GNSS

Model or name
Autel onboard GNSS
Count
1
Rate
Not reported
GNSS type
NOT REPORTED
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

Velodyne VLP-32C Puck 32

Model or name
Velodyne VLP-32C Puck 32
Count
1
Dimensions
3
Rate
Not reported
Channels
32
Range
Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Available
Format
coco
Class count
Not reported
Semantic segmentation Available
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

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