GrapeSLAM: UAV-based monocular visual dataset for SLAM with flight trajectories

This dataset contains 24 individual UAV RGB videos in vineyard in Spain. Each flight were collected by mannully controlled with different perceptives (front view, and side view). The video 56 and 61 contains loop closure for detailed SLAM, path planning and 3D reconstruction tasks. The flight record information was saved as .xlsx, which contains flight height, roll, yaw, pitch, speed, distance, and etc.

本数据集包含24段采集自西班牙葡萄园的无人机（Unmanned Aerial Vehicle，UAV）RGB视频。所有飞行视频均通过手动操控采集，涵盖正视图与侧视图两类拍摄视角。其中视频56与61包含闭环场景，可用于精细化同步定位与地图构建（Simultaneous Localization and Mapping，SLAM）、路径规划及三维重建相关任务。飞行记录信息以.xlsx格式存储，包含飞行高度、横滚角、偏航角、俯仰角、飞行速度、飞行距离等多项参数。