YOLOv5 Drone Detection Using Multimodal Data Registered by the Vicon System

Dataset is available under the Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.

=======================Summary=======================This dataset contains data showing a group of one or more drones (drone swarm) roaming around closed 3D space.The purpose of this dataset is to train and validate the position tracking of drones on images. This can be done using 3D coordinates of each drone or using segmentation masks for machine learning related approach.The first part of the dataset is split across ten sequences (AirSim 1-10) which were generated using Unreal Engine with Microsoft AirSim plugin. Each sequence is slightly modified to introduce more diversity in the dataset.The second part of the dataset (HML 1-3) is based on recordings performed in the Human Motion Laboratory located inside the Research and Development Center of the Polish-Japanese Academy of Information Technology.The simulation sequences used a drone model DJI Mavic 2 Pro by MattMaksymowicz, CC Attribution, https://sketchfab.com/3d-models/dji-mavic-2-pro-3e5b8566dbe24f4ba65473179650abd1.

All documents and papers that use the dataset must acknowledge the use of the dataset by including a citation of the following paper: Lindenheim-Locher W, Świtoński A, Krzeszowski T, Paleta G, Hasiec P, Josiński H, Paszkuta M, Wojciechowski K, Rosner J. YOLOv5 Drone Detection Using Multimodal Data Registered by the Vicon System. Sensors. 2023; 23(14):6396. https://doi.org/10.3390/s23146396

=======================Dataset sequences=======================AirSim 1:4 drones based on DJI Mavic 2 Pro.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 2:10 drones based on custom model. All drones move the same path however, each one has some fixed offset applied in all axes.Length: 10 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 3:10 drones based on custom model. All drones move the same path however, each one has some fixed offset applied in all axes.Length: 10 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 4:8 drones based on custom model. All drones move the same path however, each one has some fixed offset applied in all axes.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 5:6 drones based on custom model. All drones move the same path however, each one has some fixed offset applied in all axes.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 6:8 drones based on custom model. All drones move the same path however, each one has some fixed offset applied in all axes.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 7:8 drones based on three types of custom model.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 8:8 drones based on three types of custom model.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 9:8 drones based on three types of custom model.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

AirSim 10:2 drones based on a custom model.Length: 20 secondsFramerate: 25 FPSNumber of cameras: 8

HML 1: 1 real drone (DJI Mavic 2). It is controlled in real-time.Length: 78 secondsFramerate: 25 FPSNumber of cameras: 4

HML 2: 1 real drone. It is controlled in real-time.Length: 60 secondsFramerate: 25 FPSNumber of cameras: 4

HML 3: 1 real drone. It is controlled in real-time.Length: 90 secondsFramerate: 25 FPSNumber of cameras: 4

=======================Additional information=======================

AirSim 1-10 sets consist of two types of image data: RGB images and masks

RGB images are compressed to avi videos to save space. The name of the AVI filename contains the camera name.The name of the mask directory is based on the drone whose masks it containsNaming pattern of mask files:- a camera that was used to capture- frame IDfor example, cam_1_230.jpeg was taken by camera 1 and is 230 frames of the sequence.

HML 1-3 sets consist of two additional files:- c3d motion data file- xcp calibration file

=======================Further information=======================For any questions, comments or other issues please contact Tomasz Krzeszowski .