Adverse Rainy Conditions for Autonomous UAVs

The dataset consists of around 335K real images equally distributed among 7 classes. The classes represent different levels of rain intensity, namely Clear, Slanting Heavy Rain, Vertical Heavy Rain, Slanting Medium Rain, Vertical Medium Rain, Slanting Low Rain, and Vertical Low Rain. The dataset has been acquired during laboratory experiments and simulates a low-altitude flight. The system consists of a visual odometry system comprising a processing unit and a depth camera, namely an Intel Real Sense D435i. The rain conditions have been simulated by using a spray bottle. In the vertical condition, the spray bottle is exactly perpendicular to the VO system, while in the slanting rain condition, the spray bottle is inclined by 30 degrees with respect to the vertical axes. The rain intensities have been simulated by changing the distance of the spray bottle from the system.