Setup & Dataset

Experiment Setup

Our experiment setup involves a drone equipped with three fisheye cameras mounted on the top and additional three fisheye cameras mounted on the bottom.

The fisheye lenses used in the experiment are known to have barrel (radial) distortion. They offer a wider field of view (FoV), providing access to more information. However, due to the distortion, useful information may be cramped on the edges of the captured images.

Data Collection

Dataset analysis: Collected in Airsim simulator running on Unreal Engine

  • 28 environments: ~45 videos; ~4500 valid frames
  • Per frame samples: 3 fisheye camera RGBs, Distance GTs, and Rig RGBs