MultiFly: A Real-World Multimodal Aerial Dataset with Annotation-Efficient Label Transfer and Cross-Modal Semantic Consistency
We introduce MultiFly, a real-world, low-altitude UAV dataset for semantic perception across RGB, thermal, LiDAR, and radar modalities. MultiFly provides 17,272 synchronized samples from four suburban scenes with frame-wise annotations for 15 semantic classes, together with calibration and GNSS-RTK/IMU measurements. To avoid costly and inconsistent modality-specific annotation, we propagate labels from only 115 manually annotated RGB images through shared geometric representations to all four modalities. This approach generates semantic labels for 17,157 additional RGB images, 17,272 thermal images, 840M LiDAR points, and 3.4M radar points. Transferred annotations achieve 89.93% average a...
| Authors | Markus Gross, Andreas Greiner, Taehyoung Kim et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 October 2026 |
| Last updated at source | 14 October 2026 |
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