List of Datasets

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FRED: The Florence RGB-Event Drone Dataset

Drone detection, tracking and trajectory forecasting

Paired RGB and event recordings of five drone models, with aligned image-space boxes and track identities across indoor and challenging outdoor scenes.

Metadata: Complete Metadata needs review Released 2025

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Other
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

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

Cameras

2 reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not 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.
2D Other Event-frame annotation pipeline Not reported 30 Hz Full 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
Reference notes
Image-space boxes and IDs from automatic tracking, corrections, interpolation and final manual inspection; labels transfer to aligned RGB. Re-entering drones start separate tracks.

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

Intrinsics were computed, distortion removed and RGB padding applied for cross-camera overlap. The paper does not establish delivery of calibration parameters or raw calibration recordings.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Low-light and rain recordings deliberately challenge the modalities; rain and insects generate event distractors.

Identity labels are local to videos, and field-of-view re-entry starts a separate track.

Cameras

rgb

Model
Svpro HD
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
1280 x 720
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Varifocal lens; the stated 1920x1280 maximum is device capability, while recordings are reported at 1280x720.

event

Model
Prophesee EVK4 HD
Setup
Mono
Count
1
Effective cameras
1
Modality
Event
Resolution
1280 x 720
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Sony IMX636ES HD sensor with 8 mm optics; original aligned asynchronous event files and extracted 30 FPS frames are released. The frame product cadence is not the native event sampling rate.

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

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 Available
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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