OccuFly Dataset

Following its acceptance as a CVPR 2026 Oral, we release OccuFly: the first real-world, large-scale camera-based benchmark for Semantic Scene Completion (SSC) and Metric Monocular Depth Estimation from the aerial perspective.

🌐 Project Page: markus-42.github.io/publications/2026/occufly/
🤗 Aerial DepthAnything2: huggingface.co/markus-42/OccuFly-DepthAnythingV2
📄 Paper: arXiv:2512.20770
📚 Full Documentation GitHub: See github.com/markus-42/occufly

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Quick Start

1. Install Dependencies

pip install huggingface-hub tqdm numpy Pillow

2. Download Dataset

Use the download script located in this repository:

# Download all scenes
python download_occufly.py

# Download specific split
python download_occufly.py --split train
python download_occufly.py --split validation
python download_occufly.py --split test

# Download specific scenes (1-9)
python download_occufly.py --scenes 1 2 3

# Include predicted depth maps
python download_occufly.py --include_depth_predictions
python download_occufly.py --split train --include_depth_predictions

# Download only predicted depth maps
python download_occufly.py --only_depth_predictions

# Custom output directory
python download_occufly.py --output ./my_data

Dataset Splits

• Train: Scenes 1-5
• Validation: Scenes 6-7
• Test: Scenes 8-9

Each scene has 3 altitudes: 30m, 40m, 50m

Full Documentation

For detailed documentation, visit github.com/markus-42/occufly.

Citation

@inproceedings{gross2025occufly,
    title={{OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective}}, 
    author={Markus Gross and Sai B. Matha and Aya Fahmy and Rui Song and Daniel Cremers and Henri Meess},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    year={2026},
}

License

This dataset is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) license.

• You can: Share and adapt the material for non-commercial purposes
• You must: Give credit, indicate changes, and use the same license for derivative works
• You cannot: Use the material for commercial purposes without permission

For full license details, see creativecommons.org/licenses/by-nc-sa/4.0/