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

ScenarioSub-scenarioIDSensors
(RGB / Depth / LiDAR / IMU)
CSI DataDownload

San Francisco

Low Density11_uav_z_trace1_uav_z_traceComing Soon
21_uav_z_trace1_uav_z_traceLink
Medium Density31_uav_z_trace_1
1_uav_z_trace_2
1_uav_z_trace_1
1_uav_z_trace_2
Link
41_uav_z_trace1_uav_z_traceLink
51_uav_z_trace1_uav_z_traceComing Soon
High Density7--Coming Soon
8--Coming Soon

SFSC

Suburban91_uav_z_trace1_uav_z_traceComing Soon
Mountain101_uav_z_trace1_uav_z_traceComing Soon

Special Cases

Collaborative Sensing112_uav_z_trace2_uav_z_traceComing Soon
Night121_uav_z_trace1_uav_z_traceComing Soon
Rainy13Rain streaks / NoiseAttenuated CSIComing 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.