List of Datasets

Other, UAV

Multi-LiDAR Multi-UAV Dataset

External UAV detection and tracking with diverse LiDAR scan patterns

A stationary three-LiDAR rig and RGB camera observe 25 indoor and outdoor UAV sequences with motion-capture references.

Metadata: Complete Metadata source documented Released 2023

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

Supplementary

Not reported

Quick facts

Vehicle type
Other, UAV
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
7
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

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

Cameras

1 reported

IMUs

3 reported

GNSS

Not reported

LiDAR

3 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 Motion capture OptiTrack Not reported 100 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.
Hybrid
Reference notes
PoseStamped poses of UAV targets are listed for all 25 sequences; sensor rig remains stationary. LiDAR-frame alignment fits the mocap trajectory to UAV point clouds; this aligned representation reuses observations.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Not reported

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Official project documents calibration data, GICP rig alignment and mocap-to-LiDAR trajectory alignment. Complete raw sessions for every sensor/sequence are unverified.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

A stationary sensing rig observes UAV targets; the sensors are not all carried onboard a drone. Twenty-five recordings include indoor and outdoor conditions.

The D435 release contains RGB rather than depth. Livox 100 Hz describes driver publication, not a repeated scan cycle; native inertial sampling is unestablished.

Motion capture observes target poses. Transforming trajectories into the LiDAR frame uses trajectory-to-cloud alignment, so the aligned reference is not wholly independent. Reported 5/7 cm median agreement does not certify every pose; mocap timestamps lag Ouster by about 0.04–0.06 s.

Cameras

Camera 1

Model
Intel RealSense D435
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
1920 x 1080
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
RGB-only release from RGB-D hardware; camera depth is not included.

IMUs

Ouster OS1-64 integrated IMU

Model
ICM-20948
Count
1
Accel / gyro
Not reported

Livox Mid-360 integrated IMU

Model
ICM-40609
Count
1
Accel / gyro
Not reported

Livox Avia integrated IMU

Model
Bosch BMI088
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Ouster OS1-64

Model or name
Ouster OS1-64
Count
1
Dimensions
3
Rate
20 Hz
Channels
64
Range
Not reported

Livox Mid-360

Model or name
Livox Mid-360
Count
1
Dimensions
3
Rate
100 Hz
Channels
Not reported
Range
Not reported

Livox Avia

Model or name
Livox Avia
Count
1
Dimensions
3
Rate
100 Hz
Channels
Not reported
Range
Not reported

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
catalano2023multilidarmultiuav

BibTeX

@misc{catalano2023multilidarmultiuav,
  author = {Iacopo Catalano and Xianjia Yu and Jorge Peña Queralta},
  title = {Towards Robust UAV Tracking in GNSS-Denied Environments: A Multi-LiDAR Multi-UAV Dataset},
  year = {2023},
  url = {https://arxiv.org/abs/2310.09165v1}
}

Dataset corrections

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