List of Datasets

UAV

GrapeSLAM

Monocular visual SLAM and 3D reconstruction

UAV monocular RGB vineyard videos paired with onboard RTK/IMU flight-status trajectories under varied sunlight and shadow.

Metadata: Partial Metadata needs review

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

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UAV
Environment
Outdoor
Data origin
Real-world
Sensor count
1
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

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

Cameras

1 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.
6DoF Other DJI Phantom4 RTK onboard RTK/IMU flight-status trajectory Not reported 10 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.
Unknown
Accuracy notes
Onboard RTK/IMU accuracy depends on GNSS conditions and inertial drift; no numerical trajectory accuracy is established.
Reference notes
XLSX trajectories generated from DJIFlightRecord logs with Airdata. This onboard reference is not established as independent ground truth or a raw inertial release.

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

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Onboard RTK/IMU trajectories can suffer GNSS errors and inertial drift.

Fair-weather acquisition does not cover rain or strong wind.

Manual flights vary in speed, altitude and viewing angle.

Monocular RGB only; no stereo vision or depth sensing.

A single vineyard and trellis layout limit generalization.

Leaf occlusion affects visibility.

Cameras

monocular_rgb

Model
Not reported
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
DJI Phantom4 RTK onboard camera; MOV video. The paper describes reduction from 30 to 10 FPS for timestamp alignment; delivered MOV cadence is unverified.

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
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
wang2025grapeslam

BibTeX

@article{wang2025grapeslam,
  author = {Wang, Kaiwen and Vélez, Sergio and Kooistra, Lammert and Wang, Wensheng and Valente, João},
  title = {GrapeSLAM: UAV-based monocular visual dataset for SLAM, SfM and 3D reconstruction with trajectories under challenging illumination conditions},
  journal = {Data in Brief},
  volume = {60},
  pages = {111495},
  year = {2025},
  doi = {10.1016/j.dib.2025.111495}
}

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