UAV
UZH-FPV
VIO on fast vehicles
Quadcopter visual-inertial dataset for fast vehicle trajectories in indoor and outdoor settings.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 6
- Ground truth
- Available
- Calibration
- Full Raw Calibration Data
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Other | Not reported | Not reported | Not reported | Partial · Selected Sequences |
Reference provenance
Hybrid
Accuracy and notes
|
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Full Raw Calibration 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
Intrinsic and camera-IMU extrinsic calibration parameters and raw calibration sequences are provided for both mDAVIS and Snapdragon configurations.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Leica tracking can briefly lose measurements because of occlusion or aggressive motion, and many sequences end at an unrecoverable loss of tracker lock.
Ground truth is withheld for some benchmark and competition sequences.
Pilot FPV RGB video is uncalibrated and unsynchronized with the estimation sensors and ground truth.
Cameras
snapdragon-stereo
- Model
- Qualcomm Snapdragon Flight with Sunny MD-102-A cameras and OmniVision OV7251 sensors
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 640 x 480
- Rate
- 30 Hz
- Shutter
- Global
- Lens type
- Fisheye
- HFOV
- Not reported
- VFOV
- Not reported
mdavis-event
- Model
- iniVation miniDAVIS346
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Event
- Resolution
- 346 x 260
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Wide Angle
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Asynchronous microsecond-resolution event stream. The same physical device also releases conventional grayscale frames at 50 Hz; those frames are an auxiliary output and do not represent a second camera.
pilot-fpv-camera
- Model
- Pilot FPV camera
- 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
- High-resolution pilot video is included, but is uncalibrated and unsynchronized with the inertial sensors and ground truth.
IMUs
iniVation miniDAVIS346
- Model
- iniVation miniDAVIS346
- Count
- 1
- Accel / gyro
- 1000 / 1000 Hz
Qualcomm Snapdragon Flight
- Model
- Qualcomm Snapdragon Flight
- Count
- 1
- Accel / gyro
- 500 / 500 Hz
GNSS
Not reported
LiDAR
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.
@inproceedings{Delmerico2019,
title = {Are {{We Ready}} for {{Autonomous Drone Racing}}? {{The UZH-FPV Drone Racing Dataset}}},
booktitle = {2019 {{International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
author = {Delmerico, Jeffrey and Cieslewski, Titus and Rebecq, Henri and Faessler, Matthias and Scaramuzza, Davide},
year = {2019},
month = may,
pages = {6713--6719},
publisher = {{IEEE}},
address = {{Montreal, QC, Canada}},
doi = {10.1109/ICRA.2019.8793887},
urldate = {2023-10-04},
isbn = {978-1-5386-6027-0}
}Dataset corrections
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