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Rolling-Shutter Visual-Inertial Odomerty Dataset
Contact : David Schubert, Nikolaus Demmel, Lukas von Stumberg, Vladyslav Usenko.
We present a novel dataset that contains time-synchronized global-shutter and rolling-shutter images, IMU data and ground-truth poses for ten different sequences.
Dataset
The full dataset can be found at: https://cdn3.vision.in.tum.de/rolling/
Sequence | Bag | Euroc/DSO | Length [m] |
Sequence 1 | dataset-seq1.bag | dataset-seq1.tar | 46 |
Sequence 2 | dataset-seq2.bag | dataset-seq2.tar | 37 |
Sequence 3 | dataset-seq3.bag | dataset-seq3.tar | 44 |
Sequence 4 | dataset-seq4.bag | dataset-seq4.tar | 30 |
Sequence 5 | dataset-seq5.bag | dataset-seq5.tar | 57 |
Sequence 6 | dataset-seq6.bag | dataset-seq6.tar | 51 |
Sequence 7 | dataset-seq7.bag | dataset-seq7.tar | 45 |
Sequence 8 | dataset-seq8.bag | dataset-seq8.tar | 46 |
Sequence 9 | dataset-seq9.bag | dataset-seq9.tar | 46 |
Sequence 10 | dataset-seq10.bag | dataset-seq10.tar | 41 |
Calibration
For the calibrated sequences that are provided in the table the ground-truth poses are provided in the IMU coordinate frame and time-synchronized with image and IMU data. Geometric camera-IMU calibration can be found here: calibration.yaml.