For the same density, geometrically, you should see the same amount of sky it you are at the ground floor (or outside), and more if you are on the upper floors.

Here is a low rise area, H represent housing units, _ is the ground

  H_H_H_H_H_H

Now for the same density with high rise buildings

  H   H   H
  H___H___H__

For someone on the ground, between buildings, the field of view occupied by the sky is the same, that's because buildings are twice taller and the distance between buildings is twice longer, which cancel out. Or equivalently, the average apparent size of buildings (how much of your field of view they take) is also the same. Obviously, people higher up have a better view of the sky.