List of Datasets

UAV

Blackbird

Aggressive visual-inertial UAV flight

Indoor quadrotor flight dataset with real inertial and motor data, motion-capture ground truth, and three photorealistically rendered camera streams.

Metadata: Complete Metadata source documented Released 2020

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

Download

Not reported

Quick facts

Vehicle type
UAV
Environment
Indoor
Data origin
Simulation
Sensor count
4
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

3 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

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.
6DoF Motion capture OptiTrack · Prime 17W 24 cameras 360 Hz 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.
External
Accuracy and notes
Accuracy notes
Most flights report at most 1.5 mm mean tracking error and 1 degree ground-plane alignment error; exact recalibration is not guaranteed.
Reference notes
Pose reference from a 24-camera OptiTrack Prime 17W system. Motion-capture and onboard clocks are aligned within a verified ±5 ms bound.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Camera images are rendered with FlightGoggles from real motion-capture trajectories; the IMU, motor-speed, and flight dynamics data come from physical indoor flights.

IMU and motion-capture temporal alignment is guaranteed only within ±5 ms.

Most flights report at most 1.5 mm mean motion-capture tracking error and 1 degree ground-plane alignment error, but recalibrations are not guaranteed to be exact.

The maintained repository reports that some pre-rendered sequences are currently unavailable for download.

Cameras

forward-stereo

Model
FlightGoggles
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
1024 x 768
Rate
120 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
60 deg

downward-facing

Model
FlightGoggles
Setup
Mono
Count
1
Effective cameras
1
Modality
Grayscale
Resolution
1024 x 768
Rate
120 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
60 deg

IMUs

Xsens MTi-3

Model
Xsens MTi-3
Count
1
Accel / gyro
100 / 100 Hz

GNSS

Not reported

LiDAR

Not reported

Additional sensors

Other sensor

Name
Motor speed sensors
Variation
Custom optical motor encoder
Count
4
Rate
190 Hz

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
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
Antonini2020_ijrrblackbird

BibTeX

@article{Antonini2020_ijrrblackbird,
  title = {The {{Blackbird UAV}} Dataset},
  shorttitle = {{{IJRR Blackbird}}},
  author = {Antonini, Amado and Guerra, Winter and Murali, Varun and {Sayre-McCord}, Thomas and Karaman, Sertac},
  year = {2020},
  month = sep,
  journal = {The International Journal of Robotics Research},
  volume = {39},
  number = {10-11},
  pages = {1346--1364},
  issn = {0278-3649, 1741-3176},
  doi = {10.1177/0278364920908331},
  urldate = {2023-10-04},
  langid = {english}
}

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