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AU-AIR Dataset

Multi-modal UAV Dataset for Low Altitude Traffic Surveillance

What is AU-AIR?

AU-AIR dataset is the first multi-modal UAV dataset for object detection.
It meets vision and robotics for UAVs having the multi-modal data from different on-board sensors, and pushes forward the development of computer vision and robotic algorithms targeted at autonomous aerial surveillance.
AU-AIR has several features:
  • Object detection in aerial images
  • >2 hours raw videos
  • 32,823 labelled frames
  • 132,034 object instances
  • 8 object categories related to traffic surveillance
  • Frames are also labelled with time, GPS, IMU, altitude, linear velocities of the UAV
Italian Trulli


You are free to use AU-AIRdataset and all empirical data and metadata under the CC-BY licence, requesting appropriate credit if you do.

Frames (2.2 GB) Annotations (3.9 MB) Paper

If you have used AU-AIR dataset in a scientific publication, we would appreciate citations to the following paper:

Bozcan, Ilker, and Erdal Kayaan. "AU-AIR: A Multi-modal Unmanned Aerial Vehicle Dataset for Low Altitude Traffic Surveillance." IEEE International Conference on Robotics and Automation (ICRA), 2020, to appear.


We have prepared a Python package that provides an API to access data and annotations in AU-AIR dataset:



The dataset, website, and API is still under development, and being maintained by Ilker Bozcan. Please contact me via e-mail if you have any questions: