UAV-based monocular SLAM video datasets in vineyards with RTK ground truth

The dataset provides a UAV-based monocular visual SLAM data, designed to evaluate the potential of using monocular visual SLAM in vineyards. It includes videos in ".mp4" format collected by UAV, and "xlsx" tables which include latitude, longitude, height, speed in x, y and z, comjpass, pitch, roll. The ".xlsx" tables were measured by RTK and can be used as ground truth of UAV trajectory and pose. This dataset can be combined with other datasets to enable a comprehensive view of the vineyards: Vélez S, Ariza-Sentís M, Valente J. EscaYard: Precision viticulture multimodal dataset of vineyards affected by Esca disease consisting of geotagged smartphone images, phytosanitary status, UAV 3D point clouds and Orthomosaics. Data in Brief. 2024 Jun 1;54:110497. https://doi.org/10.1016/j.dib.2024.110497 Ariza-Sentís M, Wang K, Cao Z, Vélez S, Valente J. GrapeMOTS: UAV vineyard dataset with MOTS grape bunch annotations recorded from multiple perspectives for enhanced object detection and tracking. Data in Brief. 2024 Jun 1;54:110432. https://doi.org/10.1016/j.dib.2024.110432本数据集提供一套基于无人机（UAV）的单目视觉同步定位与地图构建（SLAM）数据，旨在评估单目视觉SLAM技术在葡萄园场景中的应用潜力。数据集包含无人机采集的.mp4格式视频，以及包含纬度、经度、高度、x/y/z三轴速度、罗盘、俯仰角、滚转角的.xlsx格式表格数据。该.xlsx格式表格数据通过实时动态差分定位（RTK）测量得到，可作为无人机轨迹与位姿的地面真值。 本数据集可与其他数据集结合使用，以实现对葡萄园的全面观测： Vélez S, Ariza-Sentís M, Valente J. EscaYard：受埃斯卡病害影响的葡萄园精准多模态农业数据集，包含地理标记智能手机图像、植保状态、无人机三维点云与正射影像。《数据简报》（Data in Brief），2024年6月1日；54卷：110497。https://doi.org/10.1016/j.dib.2024.110497 Ariza-Sentís M, Wang K, Cao Z, Vélez S, Valente J. GrapeMOTS：多视角记录的带葡萄串多目标跟踪与分割（Multi-Object Tracking and Segmentation，MOTS）标注的无人机葡萄园数据集，用于提升目标检测与跟踪性能。《数据简报》（Data in Brief），2024年6月1日；54卷：110432。https://doi.org/10.1016/j.dib.2024.110432