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Drone based wildfire detection and modeling methods enable high-precision, real-time fire monitoring that is not provided by traditional remote fire monitoring systems, such as satellite imaging. Precise, real-time information enables rapid, effective wildfire intervention and management strategies. Drone systems’ ease of deployment, omnidirectional maneuverability, and robust sensing capabilities make them effective tools for early wildfire detection and evaluation, particularly so in environments that are inconvenient for humans and/or terrestrial vehicles. Development of emerging drone-based fire monitoring systems has been inhibited by a lack of well-annotated, high quality aerial wildfire datasets, largely as a result of UAV flight regulations for prescribed burns and wildfires. The included dataset provides a collection of side-by-side infrared and visible spectrum video pairs taken by drones during an open canopy prescribed fire in Northern Arizona in 2021. The frames have been classified by two independent classifiers with two binary classifications. The Fire label is applied when the classifiers visually observe indications of fire in either RGB or IR frame for each frame pair. The Smoke label is applied when the classifiers visually estimate that at least 50% of the RGB frame is filled with smoke. To provide additional context to the main dataset’s aerial imagery, the provided supplementary dataset includes weather information, the prescribed burn plan, a geo-referenced RGB point cloud of the preburn area, an RGB orthomosaic of the preburn area, and links to further information.