Development and Assessment of a Data Set Containing Frame Images and Dense Airborne Laser Scanning Point Clouds

This letter describes the main features of a data set that contains aerial images acquired with a medium format digital camera and point clouds collected using an airborne laser scanning unit, as well as ground control points and direct georeferencing data. The flights were performed in 2014 over an urban area in Presidente Prudente, Sao Paulo, Brazil, using different flight heights. These flights covered several features of interest for research, including buildings of different sizes and roof materials, roads, and vegetation. Three point clouds with different densities, a block of digital aerial images, and auxiliary data are available. A geometric assessment was conducted to ensure the accuracy and consistency of the data, and an RMSE of 7 cm was achieved using bundle block adjustment. The data set is freely available for download, and it will be expanded with data collected over time.