{"id":"https://openalex.org/W3011186507","doi":"https://doi.org/10.1177/0278364920908331","title":"The Blackbird UAV dataset","display_name":"The Blackbird UAV dataset","publication_year":2020,"publication_date":"2020-03-18","ids":{"openalex":"https://openalex.org/W3011186507","doi":"https://doi.org/10.1177/0278364920908331","mag":"3011186507"},"language":"en","primary_location":{"id":"doi:10.1177/0278364920908331","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364920908331","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041554129","display_name":"Amado Antonini","orcid":"https://orcid.org/0000-0001-9090-1600"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amado Antonini","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058343182","display_name":"Winter Guerra","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Winter Guerra","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045269444","display_name":"Varun Murali","orcid":"https://orcid.org/0000-0001-8522-3569"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Varun Murali","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047967120","display_name":"Thomas Sayre-McCord","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Sayre-McCord","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045269444"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":31.4434,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.99255965,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"39","issue":"10-11","first_page":"1346","last_page":"1364"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7470622062683105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.733788251876831},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7310891151428223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7259612083435059},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5330134034156799},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.46909865736961365},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4587341845035553},{"id":"https://openalex.org/keywords/grayscale","display_name":"Grayscale","score":0.42093223333358765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24153324961662292},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18664082884788513}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7470622062683105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.733788251876831},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7310891151428223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7259612083435059},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5330134034156799},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.46909865736961365},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4587341845035553},{"id":"https://openalex.org/C78201319","wikidata":"https://www.wikidata.org/wiki/Q685727","display_name":"Grayscale","level":3,"score":0.42093223333358765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24153324961662292},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18664082884788513},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364920908331","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364920908331","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W606806978","https://openalex.org/W1612997784","https://openalex.org/W1998058414","https://openalex.org/W2005256684","https://openalex.org/W2019681680","https://openalex.org/W2058535340","https://openalex.org/W2074070730","https://openalex.org/W2083790008","https://openalex.org/W2109606373","https://openalex.org/W2150066425","https://openalex.org/W2167340365","https://openalex.org/W2214613866","https://openalex.org/W2294432800","https://openalex.org/W2396274919","https://openalex.org/W2431874326","https://openalex.org/W2465948386","https://openalex.org/W2482392012","https://openalex.org/W2535547924","https://openalex.org/W2559545830","https://openalex.org/W2604579016","https://openalex.org/W2614122538","https://openalex.org/W2771926486","https://openalex.org/W2783185291","https://openalex.org/W2890092611","https://openalex.org/W2891701184","https://openalex.org/W2946139622","https://openalex.org/W2950380208","https://openalex.org/W2962987986","https://openalex.org/W2967464230","https://openalex.org/W2979105428","https://openalex.org/W3003344567","https://openalex.org/W3099039688","https://openalex.org/W3099343074","https://openalex.org/W3099629894","https://openalex.org/W3102327032","https://openalex.org/W3103579146","https://openalex.org/W3103648783","https://openalex.org/W4236965008"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"the":[3,43,59,158,177,192,197],"Blackbird":[4,150],"unmanned":[5],"aerial":[6,51],"vehicle":[7],"(UAV)":[8],"Dataset,":[9],"a":[10,21,99,172],"large-scale":[11],"suite":[12],"of":[13,50,63,74,101,160,179],"sensor":[14],"data":[15,75],"and":[16,34,38,61,116,125,141,168,187],"corresponding":[17],"ground":[18,147],"truth":[19],"from":[20,76,122],"custom-built":[22],"quadrotor":[23,78],"platform":[24],"equipped":[25],"with":[26,196],"an":[27],"inertial":[28,164],"measurement":[29],"unit":[30],"(IMU),":[31],"rotor":[32],"tachometers,":[33],"virtual":[35,128],"color,":[36],"grayscale,":[37,112],"depth":[39,169],"cameras.":[40],"Motivated":[41],"by":[42],"increasing":[44],"demand":[45],"for":[46,98,162,174,189,203],"agile,":[47],"autonomous":[48],"operation":[49],"vehicles,":[52],"this":[53],"dataset":[54,69,152,200],"is":[55,153,201],"designed":[56],"to":[57,88,132,157],"facilitate":[58],"development":[60,159],"evaluation":[62],"high-performance":[64],"UAV":[65,151],"perception":[66],"algorithms.":[67],"The":[68,149,199],"contains":[70],"over":[71],"10":[72],"hours":[73],"our":[77],"tracing":[79],"18":[80],"different":[81,95],"trajectories":[82],"at":[83,205],"varying":[84],"maximum":[85],"speeds":[86],"(0.5":[87],"13.8":[89],"ms":[90],"-1":[91],")":[92],"through":[93],"5":[94],"visual":[96,163,182],"environments":[97],"total":[100],"176":[102],"unique":[103],"flights.":[104],"For":[105],"each":[106],"flight,":[107],"we":[108],"provide":[109],"120":[110],"Hz":[111,114,118,134,137,143],"60":[113,117],"RGB-D,":[115],"semantically":[119],"segmented":[120],"images":[121],"forward":[123],"stereo":[124],"downward-facing":[126],"photorealistic":[127],"cameras":[129],"in":[130],"addition":[131],"100":[133],"IMU,":[135],"~190":[136],"motor":[138],"speed":[139],"sensors,":[140],"360":[142],"millimeter-accurate":[144],"motion":[145],"capture":[146],"truth.":[148],"therefore":[154],"well":[155],"suited":[156],"algorithms":[161,184],"navigation,":[165],"3D":[166],"reconstruction,":[167],"estimation.":[170],"As":[171],"benchmark":[173],"future":[175],"algorithms,":[176],"performance":[178],"two":[180],"state-of-the-art":[181],"odometry":[183],"are":[185,194],"reported":[186],"scripts":[188],"comparing":[190],"against":[191],"benchmarks":[193],"included":[195],"dataset.":[198],"available":[202],"download":[204],"http://blackbird-dataset.mit.edu/":[206],".":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
