Thanks to Unreal Engine (UE) Editor, we were able to create custom scenes to test our approach. We created a street in the shape of a square, having 47 buildings spread over 0.16 square kilometers. The environment is feature-rich and, therefore, can be easily used for benchmarking monocular vision-based perception and planning pipelines. The whole environment is modular and can be easily expanded or configured to meet custom requirements. How to use: 1. Extract the zip 2. Open .uproject file in unreal 3. Open SquareStreet Map 4. Press Play to start AirSim Unreal Version: 4.25 OS: Linux