Handheld, UAV
FIReStereo
thermal stereo; depth perception
Thermal stereo forest/urban recordings with smoke, darkness and LiDAR-derived depth on smokeless portions.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Handheld, UAV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 4
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| Other | LiDAR SLAM | Projected Faster-LIO map | Not reported | Not reported | Partial |
Reference provenance
Derived
|
|
||||||
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
Heated checkerboard Kalibr; manual camera–LiDAR correction; start-only flat-field correction.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Thermal data are 16-bit raw except Firesgl, which is logged as 8-bit RGB. Native released camera cadence remains unknown; the maximum camera specification is not used as its rate.
Projected depth is derived from input LiDAR/IMU mapping on smokeless portions. Smoky fire sequences do not have the same depth reference, and LiDAR/IMU bags are documented for Frick and Hawkins.
The repository requests a short survey and provides downloader scripts. Calibration parameters are linked, while complete raw sessions and achieved synchronization/reference errors remain unverified.
Cameras
Camera 1
- Model
- FLIR Boson+640
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Thermal
- Resolution
- 640 x 512
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- One stereo system with two thermal heads and a 24.6 cm baseline. Most collections contain 16-bit raw images; Firesgl is logged as 8-bit RGB. Rated 30 fps does not establish the delivered native cadence.
IMUs
Epson G365
- Model
- Epson G365
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Velodyne VLP16
- Model or name
- Velodyne VLP16
- Count
- 1
- Dimensions
- 3
- Rate
- 10 Hz
- Channels
- 16
- Range
- Not reported
Radar
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- 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
Available
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{dhrafani2024firestereo,
author = {Devansh Dhrafani and Yifei Liu and Andrew Jong and Ukcheol Shin and Yao He and Tyler Harp and Yaoyu Hu and Jean Oh and Sebastian Scherer},
title = {FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments},
year = {2024},
url = {https://arxiv.org/abs/2409.07715v1}
}Dataset corrections
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