The Zurich urban micro aerial vehicle dataset

  title={The Zurich urban micro aerial vehicle dataset},
  author={Andras Majdik and Charles Till and Davide Scaramuzza},
  journal={I. J. Robotics Res.},
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… CONTINUE READING