UE4 Stereo Dataset Description UE4 Stereo is a synthetic stereo vision dataset generated in Unreal Engine 4.27 using the Microsoft AirSim simulation framework. The dataset provides synchronized stereo RGB images, dense ground truth depth maps, and full 6 DoF camera poses. It is designed to support research and benchmarking in stereo matching, visual odometry, and visual SLAM, particularly in controlled indoor environments. The dataset focuses on realistic indoor scenes with structural elements such as walls, pipes, pillars, industrial components, and furniture, while allowing precise control over camera configuration and motion dynamics. The dataset contains multiple trajectory configurations, stereo baselines, and camera geometries, enabling evaluation under different acquisition conditions while preserving fully synchronized ground truth information. Dataset Overview Number of scenes: 4 indoor scenes Number of sequences: 32 acquisition sequences (8 per scene) Total stereo image pairs: 36,838 Total RGB images: 73,676 Trajectory type: Closed loop trajectories Sampling frequency: 3 Hz and 10 Hz Drone velocity: 1.5 m/s Each sequence corresponds to a complete loop, where the drone tak…
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