List of Datasets

UAV

TII-RATM

Drone racing perception and control

Thirty autonomous and piloted drone-racing flights with RGB imagery, inertial measurements, and motion-capture references for the drone and gates.

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
UAV
Environment
Indoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Parameters Only
Annotations
Available

Sensor overview

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

Cameras

1 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not 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 Qualisys · Arqus A12 32 cameras 275 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.
External
Accuracy notes
Reported millimeter accuracy; no exact scalar supplied.
Reference notes
Drone six-marker rigid-body poses; reference apparatus excluded from normal sensors.
6DoF Motion capture Qualisys gate rigid bodies Not reported 275 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.
External
Reference notes
Gate rigid-body poses and corner coordinates from the same motion-capture installation; a distinct object reference product, not a second physical apparatus.

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

Camera parameter files are supplied; raw calibration-session release and historical per-flight completeness are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

This entry covers the original thirty flights: twelve piloted and eighteen autonomous. Six flights added in October 2025 belong to a later paper and are excluded from these totals.

Clock-offset correction and interpolation use NTP; the reported 3 ms jitter is not a universal hardware acquisition bound. Resampled 500 Hz tables are derived products.

Drone and gate trajectories use the same 32-camera Qualisys installation. The pilot FPV camera is not asserted to be a separately released image stream; raw calibration completeness remains unknown.

Cameras

Camera 1

Model
Arducam B0179 IMX219
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
640 x 480
Rate
120 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
155 deg
VFOV
Not reported

IMUs

InvenSense MPU6000

Model
InvenSense MPU6000
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Additional sensors

Other sensor

Name
Motor/control telemetry
Count
1
Notes
Four motor thrust feedbacks at 100 Hz; piloted RC at 100 Hz; autonomous reference and CTBR rates depend on controller/track.

Other sensor

Name
Battery voltage
Count
1
Rate
50 Hz
Notes
Released voltage measurements.

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Not reported
Class count
1
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
bosello2023tiiratm

BibTeX

@misc{bosello2023tiiratm,
  author = {Michael Bosello and Davide Aguiari and Yvo Keuter and Enrico Pallotta and Sara Kiade and Gyordan Caminati and Flavio Pinzarrone and Junaid Halepota and Jacopo Panerati and Giovanni Pau},
  title = {Race Against the Machine: a Fully-annotated, Open-design Dataset of Autonomous and Piloted High-speed Flight},
  year = {2023},
  url = {https://arxiv.org/abs/2311.02667v2}
}

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