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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Online-Zugang: | https://arxiv.org/abs/2507.22412 |
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| _version_ | 1866918107654651904 |
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| author | Wang, Sijie Li, Siqi Zhang, Yawei Yu, Shangshu Yuan, Shenghai She, Rui Guo, Quanjiang Zheng, JinXuan Howe, Ong Kang Chandra, Leonrich Srijeyan, Shrivarshann Sivadas, Aditya Aggarwal, Toshan Liu, Heyuan Zhang, Hongming Chen, Chujie Jiang, Junyu Xie, Lihua Tay, Wee Peng |
| author_facet | Wang, Sijie Li, Siqi Zhang, Yawei Yu, Shangshu Yuan, Shenghai She, Rui Guo, Quanjiang Zheng, JinXuan Howe, Ong Kang Chandra, Leonrich Srijeyan, Shrivarshann Sivadas, Aditya Aggarwal, Toshan Liu, Heyuan Zhang, Hongming Chen, Chujie Jiang, Junyu Xie, Lihua Tay, Wee Peng |
| contents | Multi-modal perception is essential for unmanned aerial vehicle (UAV) operations, as it enables a comprehensive understanding of the UAVs' surrounding environment. However, most existing multi-modal UAV datasets are primarily biased toward localization and 3D reconstruction tasks, or only support map-level semantic segmentation due to the lack of frame-wise annotations for both camera images and LiDAR point clouds. This limitation prevents them from being used for high-level scene understanding tasks. To address this gap and advance multi-modal UAV perception, we introduce UAVScenes, a large-scale dataset designed to benchmark various tasks across both 2D and 3D modalities. Our benchmark dataset is built upon the well-calibrated multi-modal UAV dataset MARS-LVIG, originally developed only for simultaneous localization and mapping (SLAM). We enhance this dataset by providing manually labeled semantic annotations for both frame-wise images and LiDAR point clouds, along with accurate 6-degree-of-freedom (6-DoF) poses. These additions enable a wide range of UAV perception tasks, including segmentation, depth estimation, 6-DoF localization, place recognition, and novel view synthesis (NVS). Our dataset is available at https://github.com/sijieaaa/UAVScenes |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_22412 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | UAVScenes: A Multi-Modal Dataset for UAVs Wang, Sijie Li, Siqi Zhang, Yawei Yu, Shangshu Yuan, Shenghai She, Rui Guo, Quanjiang Zheng, JinXuan Howe, Ong Kang Chandra, Leonrich Srijeyan, Shrivarshann Sivadas, Aditya Aggarwal, Toshan Liu, Heyuan Zhang, Hongming Chen, Chujie Jiang, Junyu Xie, Lihua Tay, Wee Peng Computer Vision and Pattern Recognition Multi-modal perception is essential for unmanned aerial vehicle (UAV) operations, as it enables a comprehensive understanding of the UAVs' surrounding environment. However, most existing multi-modal UAV datasets are primarily biased toward localization and 3D reconstruction tasks, or only support map-level semantic segmentation due to the lack of frame-wise annotations for both camera images and LiDAR point clouds. This limitation prevents them from being used for high-level scene understanding tasks. To address this gap and advance multi-modal UAV perception, we introduce UAVScenes, a large-scale dataset designed to benchmark various tasks across both 2D and 3D modalities. Our benchmark dataset is built upon the well-calibrated multi-modal UAV dataset MARS-LVIG, originally developed only for simultaneous localization and mapping (SLAM). We enhance this dataset by providing manually labeled semantic annotations for both frame-wise images and LiDAR point clouds, along with accurate 6-degree-of-freedom (6-DoF) poses. These additions enable a wide range of UAV perception tasks, including segmentation, depth estimation, 6-DoF localization, place recognition, and novel view synthesis (NVS). Our dataset is available at https://github.com/sijieaaa/UAVScenes |
| title | UAVScenes: A Multi-Modal Dataset for UAVs |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2507.22412 |