This web page presents visual-inertial datasets collected on-board a Micro Aerial Vehicle (MAV). The datasets contain stereo images, synchronized IMU measurements, and accurate motion and structure ground-truth.
Those data sets were published in:
M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. Achtelik and R. Siegwart, The EuRoC micro aerial vehicle datasets, International Journal of Robotic Research, DOI: 10.1177/0278364915620033, early 2016. bibtex, Publisher Link
You can find further information and detailed dataset format specifications here: MAV Visual Inertial Datasets with Motion and Structure Ground-Truth (inactive).
|Dataset||ROS bag||ASL Dataset Format||Comment|
|Machine Hall 01||link||link||Dataset machine hall “easy”|
|Machine Hall 02||link||link||Dataset machine hall “easy”|
|Machine Hall 03||link||link||Dataset machine hall “medium”|
|Machine Hall 04||link||link||Dataset machine hall “difficult”|
|Machine Hall 05||link||link||Dataset machine hall “difficult”|
|Vicon Room 1 01||link||link||Dataset Vicon room 1 “easy”|
|Vicon Room 1 02||link||link||Dataset Vicon room 1 “medium”|
|Vicon Room 1 03||link||link||Dataset Vicon room 1 “difficult”|
|Vicon Room 2 01||link||link||Dataset Vicon room 2 “easy”|
|Vicon Room 2 02||link||link||Dataset Vicon room 2 “medium”|
|Vicon Room 2 03||link||link||Dataset Vicon room 2 “difficult”|
|Calibration Dataset||link||link||Dataset for custom calibration|
Calibration All extrinsic and intrinsic calibration parameters plus post-processed ground-truth are contained in the downloads above (ASL Dataset Format).
Dataset Parser A simple dataset parser is available here: dataset_tools. If you use ROS and you are unable to process bulks of data, you can find a python script that re-assigns the correct header time-stamps to the bag file.
Datasets Two batches of datasets are available. The first batch was recorded in the ETH machine hall (see Figure 1) and contains millimeter accurate position ground-truth from a Leica MS50 laser tracker. The second batch contains Vicon 6D pose ground truth and a precise, registered 3D scan of the environment (see Figure 2).
Figure 1: ETH Machine hall. Figure 2: ground-truth 3D scan of the Vicon environment.
An Asctec Firefly hex-rotor helicopter was used for dataset collection, carrying a visual-inertial (camera-IMU) sensor unit (see Figure 3).
Figure 3: Asctec Firefly hex-rotor helicopter used during dataset collection.
Figure 4: Left: Visual-Inertial sensor unit (carried by the helicopter). Right: Sensors and ground-truth instruments schematic overview.
The following devices were used to capture 6D motion and structure ground-truth
The sensor and ground-truth data are extrinsically calibrated, and temporally aligned.