Branch Detection for Drone Perching (Keypoints) on Intel RealSense d435i

Branch detection dataset including RGB and depth images with keypoint annotation for branches suitable for drone perching from the bottom with a 2-DoF rotating arm with gripper. The dataset includes data taken in the rainforest north-west of Manaus, Brasil and a small indoor dataset on a simple vertical branch. The larger dataset for indoors that resembles an indoor tree has been withheld for the moment due to double blind requirements.