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

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.