The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight
The Blackbird Dataset was created by the AgileDrones group at the MIT FAST Lab and has been published in the proceedings of ISER 2018 (arXiv link).
Preview the Dataset
| Yaw Forward Trajectories Click for preview video |
||||||||
|---|---|---|---|---|---|---|---|---|
| Top speed (m/s) | 0.5 | 1.0 | 2.0 | 3.0 | 4.0 | 5.0 | 6.0 | 7.0 |
| 3D Figure 8 | - | - | - | - | - | - | - | - |
| Ampersand | - | ✓ | ✓ | - | - | - | - | - |
| Bent Dice | ✓ | ✓ | ✓ | ✓ | - | - | - | - |
| Clover | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Dice | - | ✓ | ✓ | ✓ | - | - | - | - |
| Flat Figure 8 | - | - | - | - | - | - | - | - |
| Half-Moon | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Mouse | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Oval | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Patrick | ✓ | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Picasso | ✓ | ✓ | - | ✓ | ✓ | ✓ | - | - |
| Sid | ✓ | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Sphinx | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Star | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Thrice | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| Tilted Thrice | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| Winter | ✓ | - | ✓ | ✓ | ✓ | - | - | - |
| Constant Yaw Trajectories Click for preview video |
||||||||
|---|---|---|---|---|---|---|---|---|
| Top speed (m/s) | 0.5 | 1.0 | 2.0 | 3.0 | 4.0 | 5.0 | 6.0 | 7.0 |
| 3D Figure 8 | ✓* | ✓* | ✓* | ✓* | ✓* | ✓* | - | - |
| Ampersand | - | ✓ | ✓ | ✓ | - | - | - | - |
| Bent Dice | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Clover | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| Dice | - | - | ✓ | ✓ | ✓ | - | - | - |
| Flat Figure 8 | ✓* | ✓* | ✓* | ✓* | - | ✓* | - | - |
| Half-Moon | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Mouse | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Oval | - | - | ✓ | ✓ | ✓ | - | - | - |
| Patrick | - | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Picasso | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| Sid | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Sphinx | - | ✓ | ✓ | ✓ | ✓ | - | - | - |
| Star | - | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Thrice | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Tilted Thrice | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Winter | - | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
* Calibration flights for dynamics, no camera data available.
Download the Dataset
All dataset files can be downloaded from http://blackbird-dataset.mit.edu/BlackbirdDatasetData/
Note: the full dataset is quite large (4.9TB). However, chunks of the dataset can be downloaded separately for testing purposes.
Using the Dataset in ROS
For playing back dataset bags, we recommend importing this repo into your catkin workspace. The message files in this repo are needed for accessing RPM and PWM bag messages.
# Install in ROS workspace. Assumes that 'wstool init' has been run in workspace
cd ~/catkin_ws/src
curl https://raw.githubusercontent.com/AgileDrones/Blackbird-Dataset/master/.rosinstall >> .rosinstall
wstool update
# Build message types 'blackbird/MotorRPM', 'blackbird/MotorPWM'.
cd ../
catkin buildCitation
If you find this work useful for your research, please cite:
@inproceedings{antonini2018blackbird,
title={The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight},
author={Antonini, Amado and Guerra, Winter and Murali, Varun and Sayre-McCord, Thomas and Karaman, Sertac},
booktitle={2018 International Symposium on Experimental Robotics (ISER)},
year={2018}
}