pith. sign in

arxiv: 2207.12317 · v1 · pith:JFROIXZYnew · submitted 2022-07-19 · 💻 cs.CV · cs.RO

ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization

Ivan Cisneros , Peng Yin , Ji Zhang , Howie Choset , Sebastian Scherer This is my paper
classification 💻 cs.CV cs.RO
keywords datasetaltolocalizationvisualbenchmarkinghighimageryplace
0
0 comments X
read the original abstract

We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The dataset is composed of two long (approximately 150km and 260km) trajectories flown by a helicopter over Ohio and Pennsylvania, and it includes high precision GPS-INS ground truth location data, high precision accelerometer readings, laser altimeter readings, and RGB downward facing camera imagery. In addition, we provide reference imagery over the flight paths, which makes this dataset suitable for VPR benchmarking and other tasks common in Localization, such as image registration and visual odometry. To the author's knowledge, this is the largest real-world aerial-vehicle dataset of this kind. Our dataset is available at https://github.com/MetaSLAM/ALTO.

This paper has not been read by Pith yet.

discussion (0)

Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.

Forward citations

Cited by 2 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score.

  1. OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos

    cs.CV 2026-06 unverdicted novelty 6.0

    OrthoTrack is a training-free system for continuous 6-DoF UAV pose estimation anchored in public orthophotos and surface models, with a new MovingDrone benchmark dataset.

  2. OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos

    cs.CV 2026-06 unverdicted novelty 6.0

    OrthoTrack is a training-free system for continuous metric 6-DoF UAV pose estimation anchored in public orthophotos and surface models, with a new MovingDrone benchmark dataset.