Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmark

📄 arXiv | 🐙 GitHub | 💾 Baidu Netdisk | 🤗 Hugging Face

Griffin is the pioneering publicly available dataset for aerial-ground cooperative 3D perception. Built using CARLA-AirSim co-simulation, it features over 200 dynamic scenes—totaling more than 30,000 frames and 270,000 images. With instance-aware occlusion quantification, variable UAV altitudes (20–60 meters), and realistic drone dynamics under diverse conditions, Griffin sets a new standard for cooperative perception research.