--- license: mit language: - en task_categories: - object-detection - depth-estimation - image-segmentation tags: - dataset - aerial - synthetic - domain adaptation - sim2real --- # SkyScenes: A Synthetic Dataset for Aerial Scene Understanding [Sahil Khose](https://sahilkhose.github.io/)\*, [Anisha Pal](https://anipal.github.io/)\*, [Aayushi Agarwal](https://www.linkedin.com/in/aayushiag/)\*, [Deepanshi](https://www.linkedin.com/in/deepanshi-d/)\*, [Judy Hoffman](https://faculty.cc.gatech.edu/~judy/), [Prithvijit Chattopadhyay](https://prithv1.xyz/) [![HuggingFace Dataset](https://img.shields.io/badge/πŸ€—-HuggingFace%20Dataset-cyan.svg)](https://huggingface.co/datasets/hoffman-lab/SkyScenes)[![Project Page](https://img.shields.io/badge/Project-Website-orange)](https://hoffman-group.github.io/SkyScenes/)[![arXiv](https://img.shields.io/badge/arXiv-SkyScenes-b31b1b.svg)](https://arxiv.org/abs/2312.06719) ## Dataset Summary Real-world aerial scene understanding is limited by a lack of datasets that contain densely annotated images curated under a diverse set of conditions. Due to inherent challenges in obtaining such images in controlled real-world settings, we present SkyScenes, a synthetic dataset of densely annotated aerial images captured from Unmanned Aerial Vehicle (UAV) perspectives. **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. **SkyScenes** features **33,600** images in total, which are spread across 8 towns, 5 weather and daytime conditions and 12 height and pitch variations. ## πŸ“£ Announcement SkyScenes has been accepted at [ECCV 2024](https://www.ecva.net/papers/eccv_2024/papers_ECCV/html/10113_ECCV_2024_paper.php) ! ## SkyScenes Details
Click to view the detailed list of all variations - **Layout Variations(Total 8):**: - Town01 - Town02 - Town03 - Town04 - Town05 - Town06 - Town07 - Town10HD _Town07 features Rural Scenes, whereas the rest of the towns feature Urban scenes_ - **Weather & Daytime Variations(Total 5):** - ClearNoon - ClearSunset - ClearNight - CloudyNoon - MidRainyNoon - **Height and Pitch Variations of UAV Flight(Total 12):** - Height = 15m, Pitch = 0Β° - Height = 15m, Pitch = 45Β° - Height = 15m, Pitch = 60Β° - Height = 15m, Pitch = 90Β° - Height = 35m, Pitch = 0Β° - Height = 35m, Pitch = 45Β° - Height = 35m, Pitch = 60Β° - Height = 35m, Pitch = 90Β° - Height = 60m, Pitch = 0Β° - Height = 60m, Pitch = 45Β° - Height = 60m, Pitch = 60Β° - Height = 60m, Pitch = 90Β°
Click to view class definitions, color palette and class IDs for Semantic Segmentation **SkyScenes** semantic segmentation labels span 28 classes which can be further collapsed to 20 classes. | Class ID | Class ID (collapsed) | RGB Color Palette | Class Name | Definition | |----------|--------------------|-------------------|------------------|----------------------------------------------------------------------------------------------------| | 0 | -1 | (0, 0, 0) | unlabeled | Elements/objects in the scene that have not been categorized | | 1 | 2 | (70, 70, 70) | building | Includes houses, skyscrapers, and the elements attached to them | | 2 | 4 | (190, 153, 153) | fence | Wood or wire assemblies that enclose an area of ground | | 3 | -1 | (55, 90, 80) | other | Uncategorized elements | | 4 | 11 | (220, 20, 60) | pedestrian | Humans that walk | | 5 | 5 | (153, 153, 153) | pole | Vertically oriented pole and its horizontal components if any | | 6 | 16 | (157, 234, 50) | roadline | Markings on road | | 7 | 0 | (128, 64, 128) | road | Lanes, streets, paved areas on which cars drive | | 8 | 1 | (244, 35, 232) | sidewalk | Parts of ground designated for pedestrians or cyclists | | 9 | 8 | (107, 142, 35) | vegetation | Trees, hedges, all kinds of vertical vegetation (ground-level vegetation is not included here) | | 10 | 13 | (0, 0, 142) | cars | Cars in scene | | 11 | 3 | (102, 102, 156) | wall | Individual standing walls, not part of buildings | | 12 | 7 | (220, 220, 0) | traffic sign | Signs installed by the state/city authority, usually for traffic regulation | | 13 | 10 | (70, 130, 180) | sky | Open sky, including clouds and sun | | 14 | -1 | (81, 0, 81) | ground | Any horizontal ground-level structures that do not match any other category | | 15 | -1 | (150, 100, 100) | bridge | The structure of the bridge | | 16 | -1 | (230, 150, 140) | railtrack | Rail tracks that are non-drivable by cars | | 17 | -1 | (180, 165, 180) | guardrail | Guard rails / crash barriers | | 18 | 6 | (250, 170, 30) | traffic light | Traffic light boxes without their poles | | 19 | -1 | (110, 190, 160) | static | Elements in the scene and props that are immovable | | 20 | -1 | (170, 120, 50) | dynamic | Elements whose position is susceptible to change over time | | 21 | 19 | (45, 60, 150) | water | Horizontal water surfaces | | 22 | 9 | (152, 251, 152) | terrain | Grass, ground-level vegetation, soil, or sand | | 23 | 12 | (255, 0, 0) | rider | Humans that ride/drive any kind of vehicle or mobility system | | 24 | 18 | (119, 11, 32) | bicycle | Bicycles in scenes | | 25 | 17 | (0, 0, 230) | motorcycle | Motorcycles in scene | | 26 | 15 | (0, 60, 100) | bus | Buses in scenes | | 27 | 14 | (0, 0, 70) | truck | Trucks in scenes | |
## Dataset Structure The dataset is organized in the following structure: ``` β”œβ”€β”€ Images (RGB Images) β”‚ β”œβ”€β”€ H_15_P_0 β”‚ β”‚ β”œβ”€β”€ ClearNoon β”‚ β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ β”‚ └── Town10HD β”‚ β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”‚ β”œβ”€β”€ ClearSunset β”‚ β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ β”‚ └── Town10HD β”‚ β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”‚ β”œβ”€β”€ ClearNight β”‚ β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ β”‚ └── Town10HD β”‚ β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”‚ β”œβ”€β”€ CloudyNoon β”‚ β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ β”‚ └── Town10HD β”‚ β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”‚ └── MidRainyNoon β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ └── Town10HD β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”œβ”€β”€ H_15_P_45 β”‚ β”‚ └── ... β”‚ β”œβ”€β”€ ... β”‚ └── H_60_P_90 β”‚ └── ... β”œβ”€β”€ Instance (Instance Segmentation Annotations) β”‚ β”œβ”€β”€ H_35_P_45 β”‚ β”‚ └── ClearNoon β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ └── Town10HD β”‚ β”‚ └── Town10HD.tar.gz β”‚ └── ... β”œβ”€β”€ Segment (Semantic Segmentation Annotations) β”‚ β”œβ”€β”€ H_15_P_0 β”‚ β”‚ β”œβ”€β”€ ClearNoon β”‚ β”‚ β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ β”‚ β”‚ └── Town01.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ β”‚ β”‚ └── Town02.tar.gz β”‚ β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ β”‚ └── Town10HD β”‚ β”‚ β”‚ └── Town10HD.tar.gz β”‚ β”‚ β”œβ”€β”€ H_15_P_45 β”‚ β”‚ β”‚ └── ... β”‚ β”‚ β”œβ”€β”€ ... β”‚ β”‚ └── H_60_P_90 β”‚ β”‚ └── ... β”‚ └── ... └── Depth (Depth Annotations) β”œβ”€β”€ H_35_P_45 β”‚ └── ClearNoon β”‚ β”œβ”€β”€ Town01 β”‚ β”‚ └── Town01.tar.gz β”‚ β”œβ”€β”€ Town02 β”‚ β”‚ └── Town02.tar.gz β”‚ β”œβ”€β”€ ... β”‚ └── Town10HD β”‚ └── Town10HD.tar.gz └── ... ``` **Note**: Since the same viewpoint is reproduced across each weather variation, hence ClearNoon annotations can be used for all images pertaining to the different weather variations. ## Dataset Download The dataset can be downloaded using wget. Since SkyScenes offers variations across different axes we enable different subsets for download that can aid in model sensitivity analysis across these axes. ### Download instructions: wget **Example script for downloading different subsets of data using wget** ```bash #!/bin/bash #Change here to download a specific Height and Pitch Variation, for example - H_15_P_0 # HP=('H_15_P_45' 'H_15_P_60' 'H_15_P_90') HP=('H_15_P_0' 'H_15_P_45' 'H_15_P_60' 'H_15_P_90' 'H_35_P_0' 'H_35_P_45' 'H_35_P_60' 'H_35_P_90' 'H_60_P_0' 'H_60_P_45' 'H_60_P_60' 'H_60_P_90') #Change here to download a specific weather subset, for example - ClearNoon #Note - For Segment, Instance and Depth annotations this field should only have ClearNoon variation # weather=('ClearNoon' 'ClearNight') weather=('ClearNoon' 'ClearNight' 'ClearSunset' 'CloudyNoon' 'MidRainyNoon') #Change here to download a specific Town subset, for example - Town07 layout=('Town01' 'Town02' 'Town03' 'Town04' 'Town05' 'Town06' 'Town07' 'Town10HD') #Change here for any specific annotation, for example - https://huggingface.co/datasets/hoffman-lab/SkyScenes/resolve/main/Segment base_url=('https://huggingface.co/datasets/hoffman-lab/SkyScenes/resolve/main/Images') #Change here for base download folder base_download_folder='SkyScenes' for hp in "${HP[@]}"; do for w in "${weather[@]}"; do for t in "${layout[@]}"; do folder=$(echo "$base_url" | awk -F '/' '{print $(NF)}') download_url="${base_url}/${hp}/${w}/${t}/${t}.tar.gz" download_folder="${base_download_folder}/${folder}/${hp}/${w}/${t}" mkdir -p "$download_folder" echo "Downloading: $download_url" wget -P "$download_folder" "$download_url" done done done ``` ## BibTex If you find this work useful please like ❀️ our dataset repo and cite πŸ“„ our paper. Thanks for your support! ``` @misc{khose2023skyscenes, title={SkyScenes: A Synthetic Dataset for Aerial Scene Understanding}, author={Sahil Khose and Anisha Pal and Aayushi Agarwal and Deepanshi and Judy Hoffman and Prithvijit Chattopadhyay}, year={2023}, eprint={2312.06719}, archivePrefix={arXiv}, primaryClass={cs.CV} } ```