MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Detection, Classification, Tracking and Trajectory Estimation of Compact Commercially Available Drones Threats

This site presents the datasets collected from our research platform, featuring an extensive set of sensors:

• Two 3D lidars ( Conic LIDAR and Peripheral LIDAR)
• Two time-synchronized cameras
• One mmWave Radar
• Four Audio Array Nodes

Citation

If you use some resource from this data suite, please cite it as

@INPROCEEDINGS{yuan2024MMAUD,
  author={Yuan, Shenghai and Yang, Yizhuo and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Yang, Jianfei and Liu, Fen and Li, Jianping and Wang, Han and Xie, Lihua},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats}, 
  year={2024},
  pages={2745-2751},
  doi={10.1109/ICRA57147.2024.10610957}
}

Downloads

The files below are hosted on OneDrive. If you are having a problem downloading from one drive, do raise an issue.

Note: All rosbag data has been compressed using 'rosbag compress' to reduce its size by a factor of 3. If you directly run 'rosbag play,' the playback frequency will be reduced. To restore the bag to its full rate, please use the 'rosbag decompress' command.

V2 and V3 were used for the CVPR UG2+ challenge, which is more challenging than V1. V1 mostly flies below 30m, while V2 and V3 are designed for actual warfare simulation, reaching up to 70m. UAV Precision hits are unlikely to go beyond 70m. The results of the UG2 CVPR 2024 challenge are now available.

Quick use

We have done some experiments of state-of-the-art methods on our the datasets. If you are seeking to do the same, please check out the following to get the work done quickly.

CAD drawing for dataset expansion

The CAD drawing can be found here.

Since there are multiple ethernet devices. It is recommended to set 2 livox lidar and MMwave radar to be at 192.168.10.xx , 192.168.11.xx , and 192.168.12.xx.

The microphone and camera can be obtained from Taobao. Whereas other LIDAR and RADAR need to find your local distributor to get it.

If you have any issues in recreating this rig, feel free to drop an issue in this dataset repo

Notes:

For more information on the sensors and how to use the dataset, please checkout the other sections.

For resources and other works of our group please checkout our github.

If you have some inquiry, please raise an issue on github.

Licence

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License and is intended for non-commercial academic use. If you are interested in using the dataset for commercial purposes please contact us.