Added dataset summary, class definitions and dataset contents
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README.md
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license: mit
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---
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<div align="center">
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<!-- [](./assets/robust_aerial_videos.mp4) -->
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<img src="./assets/skyscene_intro_teaser.png" width="100%"/>
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---
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license: mit
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language:
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- en
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---
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<div align="center">
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<!-- [](./assets/robust_aerial_videos.mp4) -->
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<img src="./assets/skyscene_intro_teaser.png" width="100%"/>
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## Dataset Summary
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Real-world aerial scene understanding is limited by a lack of datasets that contain densely annotated images curated under a diverse set of conditions.
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Due to inherent challenges in obtaining such images in controlled real-world settings,
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we present SkyScenes, a synthetic dataset of densely annotated aerial images captured from Unmanned Aerial Vehicle (UAV) perspectives.
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**SkyScenes** images are carefully curated from **CARLA** to comprehensively capture diversity across layout (urban and rural maps), weather conditions, times of day, pitch angles and altitudes with corresponding semantic, instance and depth annotations.
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**SkyScenes** features **33,600** images in total, which are spread across 8 towns, 5 weather and daytime conditions and 12 height and pitch variations.
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<details>
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<summary>Click to view the detailed list of all variations</summary>
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- **Layout Variations(Total 8):**:
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- Town01
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- Town02
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- Town03
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- Town04
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- Town05
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- Town06
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- Town07
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- Town10HD
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_Town07 features Rural Scenes, whereas the rest of the towns feature Urban scenes_
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- **Weather & Daytime Variations(Total 5):**
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- ClearNoon
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- ClearSunset
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- ClearNight
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- CloudyNoon
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- MidRainyNoon
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- **Height and Pitch Variations of UAV Flight(Total 12):**
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- Height = 15m, Pitch = 0°
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- Height = 15m, Pitch = 45°
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- Height = 15m, Pitch = 60°
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- Height = 15m, Pitch = 90°
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- Height = 35m, Pitch = 0°
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- Height = 35m, Pitch = 45°
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- Height = 35m, Pitch = 60°
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- Height = 35m, Pitch = 90°
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- Height = 60m, Pitch = 0°
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- Height = 60m, Pitch = 45°
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- Height = 60m, Pitch = 60°
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- Height = 60m, Pitch = 90°
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</details>
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<details>
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<summary>Click to view class definitions, color palette and class IDs for Semantic Segmentation</summary>
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**SkyScenes** semantic segmentation labels span 28 classes which can be further collapsed to 20 classes.
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| Class ID | Class ID (collapsed) | RGB Color Palette | Class Name | Definition |
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|----------|--------------------|-------------------|------------------|----------------------------------------------------------------------------------------------------|
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| 0 | -1 | <span style="color:rgb(0, 0, 0)"> (0, 0, 0) </span> | unlabeled | Elements/objects in the scene that have not been categorized |
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| 1 | 2 | <span style="color:rgb(70, 70, 70)"> (70, 70, 70) </span> | building | Includes houses, skyscrapers, and the elements attached to them |
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| 2 | 4 | <span style="color:rgb(190, 153, 153)"> (190, 153, 153) </span> | fence | Wood or wire assemblies that enclose an area of ground |
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| 3 | -1 | <span style="color:rgb(55, 90, 80)"> (55, 90, 80) </span> | other | Uncategorized elements |
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| 4 | 11 | <span style="color:rgb(220, 20, 60)"> (220, 20, 60) </span> | pedestrian | Humans that walk |
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| 5 | 5 | <span style="color:rgb(153, 153, 153)"> (153, 153, 153) </span> | pole | Vertically oriented pole and its horizontal components if any |
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| 6 | 16 | <span style="color:rgb(157, 234, 50)"> (157, 234, 50) </span> | roadline | Markings on road |
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| 7 | 0 | <span style="color:rgb(128, 64, 128)"> (128, 64, 128) </span> | road | Lanes, streets, paved areas on which cars drive |
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| 8 | 1 | <span style="color:rgb(244, 35, 232)"> (244, 35, 232) </span> | sidewalk | Parts of ground designated for pedestrians or cyclists |
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| 9 | 8 | <span style="color:rgb(107, 142, 35)"> (107, 142, 35) </span> | vegetation | Trees, hedges, all kinds of vertical vegetation (ground-level vegetation is not included here) |
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| 10 | 13 | <span style="color:rgb(0, 0, 142)"> (0, 0, 142) </span> | cars | Cars in scene |
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| 11 | 3 | <span style="color:rgb(102, 102, 156)"> (102, 102, 156) </span> | wall | Individual standing walls, not part of buildings |
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| 12 | 7 | <span style="color:rgb(220, 220, 0)"> (220, 220, 0) </span> | traffic sign | Signs installed by the state/city authority, usually for traffic regulation |
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| 13 | 10 | <span style="color:rgb(70, 130, 180)"> (70, 130, 180) </span> | sky | Open sky, including clouds and sun |
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| 14 | -1 | <span style="color:rgb(81, 0, 81)"> (81, 0, 81) </span> | ground | Any horizontal ground-level structures that do not match any other category |
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| 15 | -1 | <span style="color:rgb(150, 100, 100)"> (150, 100, 100) </span> | bridge | The structure of the bridge |
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| 16 | -1 | <span style="color:rgb(230, 150, 140)"> (230, 150, 140) </span> | railtrack | Rail tracks that are non-drivable by cars |
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| 17 | -1 | <span style="color:rgb(180, 165, 180)"> (180, 165, 180) </span> | guardrail | Guard rails / crash barriers |
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| 18 | 6 | <span style="color:rgb(250, 170, 30)"> (250, 170, 30) </span> | traffic light | Traffic light boxes without their poles |
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| 19 | -1 | <span style="color:rgb(110, 190, 160)"> (110, 190, 160) </span> | static | Elements in the scene and props that are immovable |
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| 20 | -1 | <span style="color:rgb(170, 120, 50)"> (170, 120, 50) </span> | dynamic | Elements whose position is susceptible to change over time |
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| 21 | 19 | <span style="color:rgb(45, 60, 150)"> (45, 60, 150) </span> | water | Horizontal water surfaces |
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| 22 | 9 | <span style="color:rgb(152, 251, 152)"> (152, 251, 152) </span> | terrain | Grass, ground-level vegetation, soil, or sand |
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| 23 | 12 | <span style="color:rgb(255, 0, 0)"> (255, 0, 0) </span> | rider | Humans that ride/drive any kind of vehicle or mobility system |
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| 24 | 18 | <span style="color:rgb(119, 11, 32)"> (119, 11, 32) </span> | bicycle | Bicycles in scenes |
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| 25 | 17 | <span style="color:rgb(0, 0, 230)"> (0, 0, 230) </span> | motorcycle | Motorcycles in scene |
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| 26 | 15 | <span style="color:rgb(0, 60, 100)"> (0, 60, 100) </span> | bus | Buses in scenes |
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| 27 | 14 | <span style="color:rgb(0, 0, 70)"> (0, 0, 70) </span> | truck | Trucks in scenes |
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</details>
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## Dataset Structure
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The dataset is organized in the following structure:
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