The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight
Antonini, Amado and Guerra, Winter and Murali, Varun and Sayre-McCord, Thomas and Karaman, Sertac

BlackbirdDatasetData (747 files)
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ampersand/yawConstant/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 6.30GB
ampersand/yawConstant/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 6.30GB
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ampersand/yawConstant/maxSpeed3p0/images/Camera_L_Small_Apartment.tar 7.59GB
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ampersand/yawConstant/maxSpeed3p0/images/Camera_D_Small_Apartment.tar 8.63GB
ampersand/yawConstant/maxSpeed3p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 6.42GB
ampersand/yawConstant/maxSpeed3p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 6.42GB
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ampersand/yawForward/maxSpeed1p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 10.34GB
ampersand/yawForward/maxSpeed1p0/images/Camera_D_Small_Apartment.tar 9.43GB
ampersand/yawForward/maxSpeed1p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 5.94GB
ampersand/yawForward/maxSpeed1p0/images/Camera_L_Small_Apartment.tar 7.97GB
ampersand/yawForward/maxSpeed1p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 5.94GB
ampersand/yawForward/maxSpeed2p0/images/Camera_D_Small_Apartment.tar 11.79GB
ampersand/yawForward/maxSpeed2p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 12.99GB
ampersand/yawForward/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 7.72GB
ampersand/yawForward/maxSpeed2p0/images/Camera_L_Small_Apartment.tar 10.14GB
ampersand/yawForward/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 7.72GB
ampersand/yawForward/maxSpeed2p0/images/Camera_R_Small_Apartment.tar 10.14GB
bentDice/yawConstant/maxSpeed1p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 7.87GB
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bentDice/yawConstant/maxSpeed2p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.06GB
bentDice/yawConstant/maxSpeed2p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.59GB
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bentDice/yawConstant/maxSpeed4p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.28GB
bentDice/yawConstant/maxSpeed4p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.82GB
bentDice/yawConstant/maxSpeed4p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 7.83GB
bentDice/yawForward/maxSpeed0p5/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.73GB
bentDice/yawForward/maxSpeed0p5/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.02GB
bentDice/yawForward/maxSpeed0p5/images/Camera_R_Ancient_Asia_Museum_Room.tar 7.01GB
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bentDice/yawForward/maxSpeed1p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 6.66GB
bentDice/yawForward/maxSpeed1p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 6.65GB
bentDice/yawForward/maxSpeed2p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.18GB
bentDice/yawForward/maxSpeed2p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 6.69GB
bentDice/yawForward/maxSpeed2p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 6.67GB
bentDice/yawForward/maxSpeed3p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 10.11GB
bentDice/yawForward/maxSpeed3p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 8.68GB
bentDice/yawForward/maxSpeed3p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 8.66GB
clover/yawConstant/maxSpeed1p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 12.22GB
clover/yawConstant/maxSpeed1p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 7.70GB
clover/yawConstant/maxSpeed1p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 7.67GB
clover/yawConstant/maxSpeed2p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 12.25GB
clover/yawConstant/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 7.84GB
clover/yawConstant/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 7.80GB
clover/yawConstant/maxSpeed3p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 12.32GB
clover/yawConstant/maxSpeed3p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 8.05GB
clover/yawConstant/maxSpeed3p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 8.01GB
clover/yawConstant/maxSpeed4p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 12.09GB
clover/yawConstant/maxSpeed4p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 8.23GB
clover/yawConstant/maxSpeed4p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 8.20GB
clover/yawConstant/maxSpeed5p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 11.60GB
clover/yawConstant/maxSpeed5p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 8.53GB
clover/yawConstant/maxSpeed5p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 8.51GB
clover/yawConstant/maxSpeed6p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 11.04GB
clover/yawConstant/maxSpeed6p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 9.00GB
clover/yawConstant/maxSpeed6p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 8.97GB
clover/yawForward/maxSpeed0p5/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 10.39GB
clover/yawForward/maxSpeed0p5/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 5.83GB
clover/yawForward/maxSpeed0p5/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 5.83GB
clover/yawForward/maxSpeed1p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 5.76GB
clover/yawForward/maxSpeed1p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 3.32GB
clover/yawForward/maxSpeed1p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 3.32GB
clover/yawForward/maxSpeed2p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 9.88GB
clover/yawForward/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 5.83GB
clover/yawForward/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 5.84GB
clover/yawForward/maxSpeed3p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 9.76GB
clover/yawForward/maxSpeed3p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 6.06GB
clover/yawForward/maxSpeed3p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 6.06GB
clover/yawForward/maxSpeed4p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 9.49GB
clover/yawForward/maxSpeed4p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 6.24GB
clover/yawForward/maxSpeed4p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 6.24GB
clover/yawForward/maxSpeed5p0/images/Camera_D_Large_Apartment_Night_Near_Couches.tar 9.41GB
clover/yawForward/maxSpeed5p0/images/Camera_L_Large_Apartment_Night_Near_Couches.tar 6.68GB
clover/yawForward/maxSpeed5p0/images/Camera_R_Large_Apartment_Night_Near_Couches.tar 6.68GB
dice/yawConstant/maxSpeed2p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.07GB
dice/yawConstant/maxSpeed2p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.53GB
dice/yawConstant/maxSpeed2p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 7.54GB
dice/yawConstant/maxSpeed3p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.13GB
dice/yawConstant/maxSpeed3p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.77GB
dice/yawConstant/maxSpeed3p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 7.77GB
dice/yawConstant/maxSpeed4p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 8.56GB
dice/yawConstant/maxSpeed4p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 7.91GB
dice/yawConstant/maxSpeed4p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 7.91GB
dice/yawForward/maxSpeed1p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 7.50GB
dice/yawForward/maxSpeed1p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 6.26GB
dice/yawForward/maxSpeed1p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 6.26GB
dice/yawForward/maxSpeed2p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 5.78GB
dice/yawForward/maxSpeed2p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 5.11GB
dice/yawForward/maxSpeed2p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 5.10GB
dice/yawForward/maxSpeed3p0/images/Camera_D_Ancient_Asia_Museum_Room.tar 7.26GB
dice/yawForward/maxSpeed3p0/images/Camera_L_Ancient_Asia_Museum_Room.tar 6.65GB
dice/yawForward/maxSpeed3p0/images/Camera_R_Ancient_Asia_Museum_Room.tar 6.65GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 9.00GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_D_Small_Apartment.tar 8.95GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.57GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_L_Small_Apartment.tar 8.07GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.57GB
halfMoon/yawConstant/maxSpeed1p0/images/Camera_R_Small_Apartment.tar 8.04GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 9.11GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_D_Small_Apartment.tar 8.81GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.55GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_L_Small_Apartment.tar 8.08GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.54GB
halfMoon/yawConstant/maxSpeed2p0/images/Camera_R_Small_Apartment.tar 8.04GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 9.24GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_D_Small_Apartment.tar 8.53GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.52GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_L_Small_Apartment.tar 7.87GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.51GB
halfMoon/yawConstant/maxSpeed3p0/images/Camera_R_Small_Apartment.tar 7.82GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 9.64GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_D_Small_Apartment.tar 8.54GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.84GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_L_Small_Apartment.tar 7.62GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.81GB
halfMoon/yawConstant/maxSpeed4p0/images/Camera_R_Small_Apartment.tar 7.59GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 7.68GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_D_Small_Apartment.tar 8.42GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.01GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_L_Small_Apartment.tar 7.63GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 5.98GB
halfMoon/yawForward/maxSpeed1p0/images/Camera_R_Small_Apartment.tar 7.64GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_D_Large_Apartment_Night_Near_Column.tar 7.76GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_D_Small_Apartment.tar 8.37GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.00GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_L_Small_Apartment.tar 7.59GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_R_Large_Apartment_Night_Near_Column.tar 5.97GB
halfMoon/yawForward/maxSpeed1p0_run_2/images/Camera_R_Small_Apartment.tar 7.58GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_D_Large_Apartment_Night_Near_Column.tar 7.70GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_D_Small_Apartment.tar 8.35GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.12GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_L_Small_Apartment.tar 7.67GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.09GB
halfMoon/yawForward/maxSpeed1p5/images/Camera_R_Small_Apartment.tar 7.70GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 7.94GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_D_Small_Apartment.tar 8.48GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 6.42GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_L_Small_Apartment.tar 7.89GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 6.39GB
halfMoon/yawForward/maxSpeed2p0/images/Camera_R_Small_Apartment.tar 7.91GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 8.38GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_D_Small_Apartment.tar 8.43GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 7.14GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_L_Small_Apartment.tar 8.17GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 7.12GB
halfMoon/yawForward/maxSpeed3p0/images/Camera_R_Small_Apartment.tar 8.18GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_D_Large_Apartment_Night_Near_Column.tar 8.77GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_D_Small_Apartment.tar 8.26GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_L_Large_Apartment_Night_Near_Column.tar 7.78GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_L_Small_Apartment.tar 8.32GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_R_Large_Apartment_Night_Near_Column.tar 7.77GB
halfMoon/yawForward/maxSpeed4p0/images/Camera_R_Small_Apartment.tar 8.35GB
mouse/yawConstant/maxSpeed1p0/images/Camera_D_NYC_Subway_Station.tar 12.03GB
mouse/yawConstant/maxSpeed1p0/images/Camera_L_NYC_Subway_Station.tar 9.08GB
mouse/yawConstant/maxSpeed1p0/images/Camera_R_NYC_Subway_Station.tar 9.09GB
mouse/yawConstant/maxSpeed2p0/images/Camera_D_NYC_Subway_Station.tar 12.16GB
mouse/yawConstant/maxSpeed2p0/images/Camera_L_NYC_Subway_Station.tar 9.24GB
mouse/yawConstant/maxSpeed2p0/images/Camera_R_NYC_Subway_Station.tar 9.25GB
mouse/yawConstant/maxSpeed3p0/images/Camera_D_NYC_Subway_Station.tar 11.97GB
mouse/yawConstant/maxSpeed3p0/images/Camera_L_NYC_Subway_Station.tar 9.09GB
mouse/yawConstant/maxSpeed3p0/images/Camera_R_NYC_Subway_Station.tar 9.10GB
mouse/yawConstant/maxSpeed4p0/images/Camera_D_NYC_Subway_Station.tar 12.00GB
mouse/yawConstant/maxSpeed4p0/images/Camera_L_NYC_Subway_Station.tar 9.42GB
mouse/yawConstant/maxSpeed4p0/images/Camera_R_NYC_Subway_Station.tar 9.44GB
mouse/yawConstant/maxSpeed5p0/images/Camera_D_NYC_Subway_Station.tar 12.23GB
mouse/yawConstant/maxSpeed5p0/images/Camera_L_NYC_Subway_Station.tar 9.93GB
mouse/yawConstant/maxSpeed5p0/images/Camera_R_NYC_Subway_Station.tar 9.95GB
mouse/yawConstant/maxSpeed6p0/images/Camera_D_NYC_Subway_Station.tar 12.14GB
mouse/yawConstant/maxSpeed6p0/images/Camera_L_NYC_Subway_Station.tar 10.11GB
mouse/yawConstant/maxSpeed6p0/images/Camera_R_NYC_Subway_Station.tar 10.14GB
mouse/yawConstant/maxSpeed7p0/images/Camera_D_NYC_Subway_Station.tar 11.93GB
mouse/yawConstant/maxSpeed7p0/images/Camera_L_NYC_Subway_Station.tar 10.33GB
mouse/yawConstant/maxSpeed7p0/images/Camera_R_NYC_Subway_Station.tar 10.36GB
mouse/yawForward/maxSpeed0p5/images/Camera_D_NYC_Subway_Station.tar 12.81GB
mouse/yawForward/maxSpeed0p5/images/Camera_L_NYC_Subway_Station.tar 11.08GB
mouse/yawForward/maxSpeed0p5/images/Camera_R_NYC_Subway_Station.tar 11.09GB
mouse/yawForward/maxSpeed0p5_run_2/images/Camera_D_NYC_Subway_Station.tar 12.72GB
mouse/yawForward/maxSpeed0p5_run_2/images/Camera_L_NYC_Subway_Station.tar 11.19GB
mouse/yawForward/maxSpeed0p5_run_2/images/Camera_R_NYC_Subway_Station.tar 11.21GB
mouse/yawForward/maxSpeed1p0/images/Camera_D_NYC_Subway_Station.tar 6.41GB
mouse/yawForward/maxSpeed1p0/images/Camera_L_NYC_Subway_Station.tar 5.88GB
mouse/yawForward/maxSpeed1p0/images/Camera_R_NYC_Subway_Station.tar 5.88GB
mouse/yawForward/maxSpeed2p0/images/Camera_D_NYC_Subway_Station.tar 6.58GB
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Type: Dataset
Tags: Dataset, UAV, aggressive, drone racing, VIO, SLAM, perception

Bibtex:
@inproceedings{antonini2018blackbird,
title= {The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight},
author= {Antonini, Amado and Guerra, Winter and Murali, Varun and Sayre-McCord, Thomas and Karaman, Sertac},
booktitle= {2018 International Symposium on Experimental Robotics (ISER)},
year= {2018},
abstract= {The Blackbird unmanned aerial vehicle (UAV) dataset is a large-scale indoor dataset collected using a custom-built quadrotor platform for use in evaluation of agile perception. The dataset contains over 10 hours of flight data from 168 flights over 17 flight trajectories and 5 environments at velocities up to 8.0 m/s. Each flight includes sensor data from 120 Hz stereo and downward-facing photorealistic virtual cameras, 100 Hz IMU, 190 Hz motor speed sensors, and 360 Hz millimeter-accurate motion capture ground truth. Camera images for each flight were photorealistically rendered using FlightGoggles across a variety of environments to facilitate experimentation of perception algorithms. The dataset is available at http://blackbird-dataset.mit.edu.},
keywords= {UAV, aggressive, dataset, drone racing, VIO, SLAM, perception},
terms= {Copyright 2018 Sertac Karaman
    
    Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
    
    The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
    
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.},
license= {MIT License},
superseded= {},
url= {http://blackbird-dataset.mit.edu}
}


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