SUG-UAV Multirotor Dataset with Multi-sensor Integration in Indoor and Urban Areas

Abstract

In this paper, a new UAV dataset is presented to support UAV research, such as high-precision positioning and dynamic calibration. The presented dataset is divided into two categories based on different research needs. The first category of the dataset contains visual, inertial, and motor encoder information collected in the indoor motion capture room. This dataset provides accurate ground truth generated by motion capture, which is suitable for the study of UAV dynamics model. The other category of the dataset is collected in a variety of complex outdoor scenarios, and the multi-sensor fusion localization algorithm is used to generate high-precision ground truth trajectory, this category of the dataset could be used for research in UAV positioning and scene reconstruction in complex environments. In short, a total of nine sequences of the dataset are provided. More importantly, the timestamps of raw measurements in each sequence are well synchronized and accurately calibrated. The dataset also provides accurate extrinsic and intrinsic parameters and ground truth trajectories.

Problem Addressed

UAV research on high-precision positioning and dynamic calibration lacks datasets with well-synchronized multi-sensor measurements and accurate ground truth covering both indoor and complex urban environments.

Key Contributions

• Multirotor dataset with two categories targeting UAV dynamics modeling and positioning in complex environments
• Indoor sequences with visual, inertial, and motor encoder data plus motion-capture ground truth
• Outdoor sequences across complex scenarios with high-precision trajectories from multi-sensor fusion localization
• Nine sequences with well-synchronized timestamps, accurate intrinsic/extrinsic calibration, and ground-truth trajectories

Conclusions

The dataset provides nine sequences collected in an indoor motion capture room and in diverse complex outdoor scenarios. All raw measurements are well synchronized and accurately calibrated, with accurate intrinsic and extrinsic parameters and ground-truth trajectories supporting UAV dynamics modeling, positioning, and scene reconstruction research.