File uploads: We have fixed an issue which caused file uploads to fail. We apologise for the inconvenience it may have caused.

Published July 10, 2020 | Version No calibration sequences
Dataset Open

The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments

Description

This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo camera (Bumblebee®2), a custom stereo rig, and an inertial measurement unit. The most distinctive feature of this dataset is the strong presence of low-textured environments and scenes with dynamic illumination, which are recurrent corner cases of visual odometry and simultaneous localization and mapping (SLAM) methods. The dataset comprises 32 sequences and is provided with ground-truth poses at the beginning and the end of each of the sequences, thus allowing the accumulated drift to be measured in each case. We provide a trial evaluation of five existing state-of-the-art visual and visual–inertial methods on a subset of the dataset. We also make available open-source tools for evaluation purposes, as well as the intrinsic and extrinsic calibration parameters of all sensors in the rig. The dataset is available for download at http://mapir.uma.es/work/uma-visual-inertial-dataset

Files

calib_cam-bumblebeeMEDIUM_2019-02-07-16-46-13.zip

Files (196.4 GB)

Name Size Download all
md5:480ce43c2c56a793c3f847f3c69d85fb
253 Bytes Download
md5:312b75d10779af34e046849820493cea
10.7 GB Preview Download
md5:8b25826814746e3eaa48c8dc6f7595ab
3.3 GB Preview Download
md5:9ecc653b5766c0b38046dc50661c12d9
3.1 GB Preview Download
md5:11118521a55b7658622904c1e96549e5
1.8 GB Preview Download
md5:62b10313fcf814749655f2b7e4f43611
973.4 kB Preview Download
md5:0df8eb45ed255aa14267b471d2a3f02f
2.7 kB Download
md5:645191413d4b2e0e33b1a46d8a649614
4.0 GB Preview Download
md5:c0bb0a909ebebed4eaca9acf998844ef
3.1 GB Preview Download
md5:caa8b4169aa12c0deef63b0436a0811f
2.5 GB Preview Download
md5:aca13bd45b82b3c937111d51d2e8f6b4
7.2 GB Preview Download
md5:272bc151aa9d62db19d02c6b6e1da0ed
3.9 GB Preview Download
md5:97791fb7073d1413823664ed1712523a
2.9 GB Preview Download
md5:c62a621b5ce61a0a618457048698e233
5.6 GB Preview Download
md5:aa1ac43519e265b9fbd60249b77a8f0e
3.3 GB Preview Download
md5:0d173c6817bec106777e1f4c0f091069
5.2 GB Preview Download
md5:d000885bfc84e8a60747929f48afb075
6.4 GB Preview Download
md5:e85a972b6a68825ccda4372d98787497
3.0 GB Preview Download
md5:f9679ee5a834b5d9f627e480d0fdbf96
8.6 GB Preview Download
md5:4120bf8c2285bd8836aa3343d7517832
3.4 GB Preview Download
md5:57864a5d13de83ca0c062f6142f813bb
2.2 GB Preview Download
md5:953d290d9b69e3b35623f85399fe03aa
5.9 GB Preview Download
md5:3928c7799d00ea40b2947429533db28a
9.4 GB Preview Download
md5:6c4c8bd0babb458137fcd21407422586
6.8 GB Preview Download
md5:97972068fbea85bc58a93d80ef2b9eab
6.1 GB Preview Download
md5:c08c1d4ab62366cb2892c9d28d3cef45
10.4 GB Preview Download
md5:3316c0784abd8b2b4c4e51af747f546d
8.5 GB Preview Download
md5:ed4a9228ecbf329c8b2569ef5f5bd07c
8.1 GB Preview Download
md5:43da65d7b33366ce840de252511e37c1
10.7 GB Preview Download
md5:8775e982ff6d58fef394a128f6fcfc5f
8.1 GB Preview Download
md5:05fa5603bd455e3f6d1fdf85d7b77323
9.8 GB Preview Download
md5:3d05acdd9d24bb6dbc6554b6afdcb334
2.8 GB Preview Download
md5:7e3a652d01d45157f0bc93a7bdcda0e5
2.9 GB Preview Download
md5:6696ac8aec8aed93102b44a2c570b64b
2.3 GB Preview Download
md5:85ee0c3b81a75418892c6f85c79d4ad6
2.9 GB Preview Download
md5:7d98070e3fed5dc3aee0d80c77ace28e
151.8 MB Preview Download
md5:ed6d7173412e12e273e53511565883ec
3.3 GB Preview Download
md5:9f158f8d4b4e358b33b3454653f0b390
3.4 GB Preview Download
md5:480f065e52ae6f5c2c8120ffe04eb6b5
4.4 GB Preview Download
md5:cf0583a10ba12f55381d7c377d65e075
4.9 GB Preview Download
md5:221e1d7e525a8faa09669e01fa7f4cd4
5.4 GB Preview Download

Additional details