The Zurich Urban Micro Aerial Vehicle
نویسندگان
چکیده
This paper presents a dataset recorded on-board a camera-equipped Micro Aerial Vehicle (MAV) flying within the urban streets of Zurich, Switzerland, at low altitudes (i.e., 5-15 meters above the ground). The 2 km dataset consists of time synchronized aerial high-resolution images, GPS and IMU 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 (SLAM), and online 3D reconstruction algorithms for MAVs in urban environments.
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