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The Zurich urban micro aerial vehicle dataset


Majdik, Andras; Till, Charles; Scaramuzza, Davide (2017). The Zurich urban micro aerial vehicle dataset. IEEE Robotics and Automation Letters, 36(3):269-273.

Abstract

This paper presents a dataset recorded on-board a camera-equipped micro aerial vehicle flying within the urban streets of Zurich, Switzerland, at low altitudes (i.e. 5–15 m above the ground). The 2 km dataset consists of time synchronized aerial high-resolution images, global position system and inertial measurement unit sensor data, ground-level street view images, and ground truth data. The dataset is ideal to evaluate and benchmark appearance-based localization, monocular visual odometry, simultaneous localization and mapping, and online three-dimensional reconstruction algorithms for micro aerial vehicles in urban environments.

Abstract

This paper presents a dataset recorded on-board a camera-equipped micro aerial vehicle flying within the urban streets of Zurich, Switzerland, at low altitudes (i.e. 5–15 m above the ground). The 2 km dataset consists of time synchronized aerial high-resolution images, global position system and inertial measurement unit sensor data, ground-level street view images, and ground truth data. The dataset is ideal to evaluate and benchmark appearance-based localization, monocular visual odometry, simultaneous localization and mapping, and online three-dimensional reconstruction algorithms for micro aerial vehicles in urban environments.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:5 April 2017
Deposited On:22 Aug 2017 12:48
Last Modified:22 Aug 2017 12:48
Publisher:Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Free access at:Publisher DOI. An embargo period may apply.
Publisher DOI:https://doi.org/10.1177/0278364917702237
Other Identification Number:merlin-id:15102

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