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The dataset is organized by scenario complexity. Please simply click the Link button to download specific subsets.

Scenario	Sub-scenario	ID	Sensors (RGB / Depth / LiDAR / IMU)	CSI Data	Download
San Francisco	Low Density	1	`1_uav_z_trace`	`1_uav_z_trace`	Coming Soon
	Low Density	2	`1_uav_z_trace`	`1_uav_z_trace`	Link
	Medium Density	3	`1_uav_z_trace_1` `1_uav_z_trace_2`	`1_uav_z_trace_1` `1_uav_z_trace_2`	Link
		4	`1_uav_z_trace`	`1_uav_z_trace`	Link
		5	`1_uav_z_trace`	`1_uav_z_trace`	Coming Soon
	High Density	7	-	-	Coming Soon
	High Density	8	-	-	Coming Soon
SFSC	Suburban	9	`1_uav_z_trace`	`1_uav_z_trace`	Coming Soon
SFSC	Mountain	10	`1_uav_z_trace`	`1_uav_z_trace`	Coming Soon
Special Cases	Collaborative Sensing	11	`2_uav_z_trace`	`2_uav_z_trace`	Coming Soon
	Night	12	`1_uav_z_trace`	`1_uav_z_trace`	Coming Soon
	Rainy	13	Rain streaks / Noise	Attenuated CSI	Coming Soon

Dataset Glossary

Scenario Definitions

SFSC (San Francisco Style City): A Suburban counterpart to San Francisco. It features lower building density, residential blocks, and wider streets, simulating typical semi-urban flight zones.

Trajectory Types

z_trace: A fixed-altitude zig-zag path designed for uniform area coverage.
curve_trace: Continuous curvilinear trajectories generated via Markov Chains in 3D space.
x_uav: Prefix indicating the number of drones.