List of Datasets

UAV

LAMBDA

Multimodal UAV sensing and wireless communication

Aligned simulated UAV vision, depth, LiDAR, inertial state and path-level wireless channels support sensing and communication research.

Metadata: Complete Metadata source documented Released 2026

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

Supplementary

Not reported

Quick facts

Vehicle type
UAV
Environment
Outdoor
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

2 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

1 reported

Radar

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 Simulator state Not reported 60 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
Realized simulated UAV pose and quaternion for the recorded frames. This is simulator-derived truth, not an independent physical survey.

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

Recorded camera intrinsics and extrinsics support projections; raw calibration recordings are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

This is a simulation combining perception, realized UAV state and path-level wireless channels. Base stations can observe UAVs; counts and placement vary by scenario.

Path-level CSI and radar-synthesis resources are released. MIMO/OFDM tensors and radar cubes are generated locally, not independently measured physical radar streams or guaranteed stored products for every frame.

Camera/state output is 60 Hz and LiDAR output 20 Hz. A worked 512-square vision input is a resize; maintained native visual configuration is 1920 by 1080.

Programmed speed caps, scenario altitudes and the reported 2.04 TB are not converted into measured motion extrema or a storage scalar without a documented datum/unit convention.

Weather-affected depth is not automatically ideal depth ground truth. Beam-prediction classes in an experiment do not establish a general semantic label release.

Cameras

Camera 1

Model
Not reported
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
1920 x 1080
Rate
60 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Maintained native visual configuration is 1920x1080 at 60 Hz. Base-station/agent topology varies; the 512x512 vision example is an experimental resize.

IMUs

Simulated inertial state

Model
Not reported
Count
1
Accel / gyro
60 / 60 Hz

GNSS

Not reported

LiDAR

LiDAR 1

Model or name
LiDAR 1
Count
1
Dimensions
3
Rate
20 Hz
Channels
512
Range
150 m

Radar

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
zhou2026lambda

BibTeX

@misc{zhou2026lambda,
  author = {Lin Zhou and Peichuan Rao and Chenshuo Zhang and Jianhua Mo and Shu Sun and Zhiyong Chen and Meixia Tao},
  title = {LAMBDA: A Low-Altitude Multimodal Base Dataset for UAV Sensing and Communication},
  year = {2026},
  url = {https://arxiv.org/abs/2607.03826v1}
}

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