# DroneAudioset: An Audio Dataset for Drone-based Search and Rescue

arXiv: https://arxiv.org/abs/2510.15383 · HTML: https://mlsanity.com/paper/2510.15383/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 32 references that are in the map.
- First posted on arXiv 17 Oct 2025.

## Builds on (most cited first, 9 of 9)

- [Datasheets for Datasets](https://mlsanity.com/paper/1803.09010/) (2018)
- [FSD50K: An Open Dataset of Human-Labeled Sound Events](https://mlsanity.com/paper/2010.00475/) (2020)
- [ICASSP 2023 Deep Noise Suppression Challenge](https://mlsanity.com/paper/2303.11510/) (2023)
- [Open-Source Conversational AI with SpeechBrain 1.0](https://mlsanity.com/paper/2407.00463/) (2024)
- [MP-SENet: A Speech Enhancement Model with Parallel Denoising of Magnitude and Phase Spectra](https://mlsanity.com/paper/2305.13686/) (2023)
- [GWA: A Large High-Quality Acoustic Dataset for Audio Processing](https://mlsanity.com/paper/2204.01787/) (2022)
- [STARSS22: A dataset of spatial recordings of real scenes with spatiotemporal annotations of sound events](https://mlsanity.com/paper/2206.01948/) (2022)
- [SSLAM: Enhancing Self-Supervised Models with Audio Mixtures for Polyphonic Soundscapes](https://mlsanity.com/paper/2506.12222/) (2025)
- [The INTERSPEECH 2020 Deep Noise Suppression Challenge: Datasets, Subjective Speech Quality and Testing Framework](https://mlsanity.com/paper/2001.08662/) (2020)

## Built on by (most cited first, 1 of 1)

- [Normalise or condition? Noise-floor front-ends for on-board keyword spotting under UAV rotor ego-noise](https://mlsanity.com/paper/2609.31699/) (2026)

## Abstract (arXiv)

Unmanned Aerial Vehicles (UAVs) or drones, are increasingly used in search and rescue missions to detect human presence. Existing systems primarily leverage vision-based methods which are prone to fail under low-visibility or occlusion. Drone-based audio perception offers promise but suffers from extreme ego-noise that masks sounds indicating human presence. Existing datasets are either limited in diversity or synthetic, lacking real acoustic interactions, and there are no standardized setups for drone audition. To this end, we present DroneAudioset (The dataset is publicly available at https://huggingface.co/datasets/ahlab-drone-project/DroneAudioSet/ under the MIT license), a comprehensive drone audition dataset featuring 23.5 hours of annotated recordings, covering a wide range of signal-to-noise ratios (SNRs) from -57.2 dB to -2.5 dB, across various drone types, throttles, microphone configurations as well as environments. The dataset enables development and systematic evaluation of noise suppression and classification methods for human-presence detection under challenging conditions, while also informing practical design considerations for drone audition systems, such as microphone placement trade-offs, and development of drone noise-aware audio processing. This dataset is an important step towards enabling design and deployment of drone-audition systems.