Affiliation:
1. MTA SZTAKI, Institute for Computer Science and Control, Hungarian Academy of Sciences, Hungary
2. Department of Informatics, University of Zurich, Switzerland
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.
Funder
Hungarian Scientific Research Fund
National Centre of Competence in Research Robotics (NCCR) through the Swiss National Science Foundation
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
90 articles.
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