AGT-CV: An Aerial-Ground Team Cross-View Dataset for Heterogeneous Robot Teams in Unstructured Environments

Abstract:Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot collaborative perception has been constrained by the lack of real-world datasets featuring overlapping multi-modal observations from platforms operating in unstructured terrain. We present the \textbf{AGT-CV} (\textbf{A}erial-\textbf{G}round \textbf{T}eam \textbf{C}ross-\textbf{V}iew) dataset, a real-world multi-robot collaborative perception dataset collected using a Clearpath Husky UGV and an Autel EVO~II UAV across diverse unstructured environments, including forest trails, rocky paths, muddy terrain, snow piles, and grass-covered fields. The ground platform provides 3D LiDAR, stereo camera, IMU, and GPS data, while the aerial platform contributes RGB imagery, thermal/infrared observations, and GPS from a complementary overhead viewpoint, allowing for rich cross-modal and cross-view perception. The dataset is collected in 4 unique environments, with over 13,000 synchronized frames across approximately 29 minutes of operation, and includes both SAM~3-based zero-shot segmentation and almost 8,000 manually labeled images. A unique aspect of the dataset is its early-spring collection period, during which sparse tree canopies allow the aerial robot to partially observe the ground robot and terrain through the trees, allowing for occlusion-aware collaborative perception. Unlike prior multi-robot datasets that primarily focus on SLAM or simulated cooperative driving, AGT-CV is specifically designed to support research on cross-view perception, air-ground viewpoint fusion, terrain-aware perception, and collaborative scene understanding in real off-road environments.

Robotics (cs.RO)

arXiv:2605.06478 [cs.RO]

(or arXiv:2605.06478v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2605.06478 Focus to learn more arXiv-issued DOI via DataCite

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