Table 1 Comparison of datasets (meaning of the superscripts used: a - one of the sequences comes from another dataset, b - static cameras, c - FPV camera, d - frame rate of Snapdragon Flight/miniDAVIS346 event camera, respectively, r - real data, s - simulated data).
UZH-FPV11 | EuRoC28 | MVDT12 | Mid-Air15 | Blackbird16 | UPenn17 | DPJAIT | |
|---|---|---|---|---|---|---|---|
# of sequences | 31 | 11 | 5a | 54 | 186 | 4 | 31 (18r, 13s) |
Sequence type | real | real | real | sim | real | real | real & sim |
Duration [min] | 23 | 22 | 24 (4 seq.) | 79 | over 600 | — | 66 (46r, 20s) |
Max. dist. [m] | 333.6 indoor 735.5 outdoor | 130.9 | no data | no data | 860.8 | 700 | 669 |
# of drones | 1 | 1 | 1 | 1 | 1 | 1 | 1-10 |
Static cameras | no | no | 4-7 | no | no | no | 4r, 8s |
FPV cameras | yes | yes | no | yes | yes | yes | yes |
Video res. [px] | 640 × 480 | 752 × 480 | 1440 × 1080 1920 × 1080 3840 × 2160 | 1024 × 1024 | 1024 × 768 | 960 × 800 | 1924 × 1082b 3840 × 2160c |
Video freq. [fps] | 30/50d | 20 | 25-60 | 25 | 120 | 40 | 25 |
IMU [Hz] | 500/1000 | 200 | — | 100 | 100 | 200 | — |
Ref. data system | Leica | Leica/Vicon | GNSS | n/a | mocap | no data | Vicon |
Ref. data [Hz] | 20 | 20/100 | 100 | n/a | 360 | no data | 100 |
ArUco markers | no | no | no | no | no | no | yes |
