Published May 31, 2020
| Version V1
Dataset
Open
AAU synthetic ROS dataset for VIO
- 1. University of Klagenfurt
Description
Synthetic ROS data set for Visual-Inertial Odometry, providing IMU measurements (linear acceleration and angular velocities) as well as camera images with different resolutions (320x240, 640x480, and 1280x960) at rates of 500 Hz and 100 Hz, respectively. The camera images are obtained from a texture-rich outdoor scene created Unity. Two circles with a diameter of 10 m are performed within 72 seconds. Besides the noisy measurements, ground-truth poses are included in the ROS bag file. The intrinsic and extrinsic camera calibrations as well as the IMU noise characteristics are provided.
Contained ROS topics:
- /mus/ground_truth_pose_imu : geometry_msgs/PoseStamped
- /mus/image : sensor_msgs/Image
- /mus/imu : sensor_msgs/Imu
- /tf : tf/tfMessage
Notes
The three datasets consists of 7 archives in total. The 1280x720 archive is was split in 2000 MB parts. To restore original archive please run: 'cat AAU_VIO_1280x960.zip.part* > AAU_VIO_1280x960.zip', then decompress it with capable tool.
Files
AAU_VIO_320x240.zip
Files
(9.6 GB)
| Name | Size | Download all |
|---|---|---|
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md5:d590bee013a76e04659865508e05f3a8
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2.1 GB | Download |
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md5:e895aa4eaf113d06043293383cce1d1f
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2.1 GB | Download |
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md5:4db87937c7d7a3491fe8358a031ccc7c
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2.1 GB | Download |
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md5:40014371ca232848378a3ea278fe01b6
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1.0 GB | Download |
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md5:fedc4f2ea7182c85891c22fa69d8dcf5
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459.2 MB | Preview Download |
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md5:cd0839a6aa3d05e2164dd8a7087abef6
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1.8 GB | Preview Download |