AeroGrid100

AeroGrid100 is a large-scale, structured aerial dataset collected via UAV to support 3D neural scene reconstruction tasks such as NeRF. It consists of 17,100 high-resolution images with accurate 6-DoF camera poses, collected over a 10×10 geospatial grid at 5 altitude levels and multi-angle views per point.

🔗 Access

To access the full dataset, click here to open the Google Drive folder.

🌍 Dataset Overview

• Platform: DJI Air 3 drone with wide-angle lens
• Region: Urban site in Claremont, California (~0.209 km²)
• Image Resolution: 4032 × 2268 (JPEG, 24mm FOV)
• Total Images: 17,100
• Grid Layout: 10 × 10 spatial points
• Altitudes: 20m, 40m, 60m, 80m, 100m
• Viewpoints per Altitude: Up to 8 yaw × 5 pitch combinations
• Pose Metadata: Provided in JSON (extrinsics, GPS, IMU)

📦 What’s Included

• High-resolution aerial images
• Per-image pose metadata in NeRF-compatible OpenGL format
• Full drone flight log
• Scene map and sampling diagrams
• Example reconstruction using NeRF

🎯 Key Features

• ✅ Dense and structured spatial-angular coverage
• ✅ Real-world variability (lighting, pedestrians, cars, vegetation)
• ✅ Precise pose annotations from onboard GNSS + IMU
• ✅ Designed for photorealistic NeRF reconstruction and benchmarking
• ✅ Supports pose estimation, object detection, keypoint detection, and novel view synthesis

📊 Use Cases

• Neural Radiance Fields (NeRF)
• View synthesis and novel view generation
• Pose estimation and camera localization
• Multi-view geometry and reconstruction benchmarks
• UAV scene understanding in complex environments

📌 Citation

If you use AeroGrid100 in your research, please cite:

@inproceedings{zeng2025aerogrid100,
  title     = {AeroGrid100: A Real-World Multi-Pose Aerial Dataset for Implicit Neural Scene Reconstruction},
  author    = {Zeng, Qingyang and Mohanty, Adyasha},
  booktitle = {RSS Workshop on Leveraging Implicit Methods in Aerial Autonomy},
  year      = {2025},
  url       = {https://im4rob.github.io/attend/papers/7_AeroGrid100_A_Real_World_Mul.pdf}
}