UAV
Zurich Urban MAV
MAV VIO
Outdoor quadcopter visual-inertial dataset with RGB imagery and visual-pose ground truth.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 5
- Ground truth
- Available
- Calibration
- Full Raw Calibration Data
- Annotations
- Available
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
|
|---|---|---|---|---|---|---|
| 3D position | Photogrammetry | Not reported | Not reported | 1 Hz | Unknown |
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
- checkerboard
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Thirty checkerboard images and OpenCV pinhole intrinsics are included; the camera-to-body translation is reported in the paper.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Photogrammetric ground truth provides camera positions rather than an independently measured external 6DoF reference trajectory.
Urban-canyon GPS shadowing and multipath produce reported RMS errors of 2.22 m, 3.76 m, and 5.46 m along the three position axes relative to the reconstructed path.
The image-to-onboard-data temporal offset was set once at the beginning of recording rather than estimated independently for every frame.
The GoPro Hero 4 rolling shutter has a 30 ms top-to-bottom readout time.
Cameras
mono-rgb
- Model
- GoPro Hero 4
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 1920 x 1080
- Rate
- 30 Hz
- Shutter
- Rolling
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
IMUs
Pixhawk PX4 autopilot IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- 10 / 10 Hz
GNSS
Onboard GPS receiver
- Model or name
- Onboard GPS receiver
- Count
- 1
- Rate
- Not reported
- GNSS type
- GPS
- Position output
- Available
- Velocity output
- Not available
- Heading output
- Not reported
LiDAR
Not reported
Additional sensors
Barometer
- Name
- PX4 autopilot barometer
- Count
- 1
Odometry
- Name
- Pixhawk PX4 autopilot pose estimate
- Count
- 1
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- GroundTruthAGM.csv aerial-to-Street-View image correspondences
- 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.
@article{Majdik2017,
title = {The {{Zurich}} Urban Micro Aerial Vehicle Dataset},
author = {Majdik, Andr{\'a}s L and Till, Charles and Scaramuzza, Davide},
year = {2017},
month = mar,
journal = {The International Journal of Robotics Research},
volume = {36},
number = {3},
pages = {269--273},
issn = {0278-3649, 1741-3176},
doi = {10.1177/0278364917702237},
urldate = {2023-10-04},
langid = {english}
}Dataset corrections
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