The Zurich urban micro aerial vehicle dataset

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.