Vision, GPS and Translation and Orientation Data from a Radio-Controlled Aircraft: for testing and evaluation of stereo visual odometry and SLAM algorithms

Viewed: 1556

This dataset was gathered for testing and evaluation of stereo visual odometery and Simultaneous Localisation and Mapping or SLAM algorithms.

The data was gathered from a radio-controlled aircraft flown at Kagaru, Queensland, Australia on August 31, 2010. The data was collected from a 90second portion of the flight, taken at an altitude of 20-100m and at a speed of ~20m/s. The flight traverses over farmland and includes views of grass, an air-strip, roads, trees, ponds, parked aircraft and buildings.

The data was recorded using the Orca robotics package and consists of visual data filmed from a pair of downward facing cameras, translation and orientation information as a ground truth from an XSens Mti-g INS/GPS and additional information from a USB NMEA GPS.

The full set of images is available as seperated 1.95GB RAR files with a smaller subset of 100 images available in both raw and debayered/undistorted formats. Checksums are provided on large files to ensure integrity of the downloaded data.

Access rights

This dataset has been released for free and public use in testing and evaluating stereo visual odometry and visual SLAM algorithms.

Location of data collection

kmlPolyCoords

152.951685,-27.829704 152.867596,-27.829704 152.867596,-27.887387 152.951685,-27.887387 152.951685,-27.829704

Publications

Warren, Michael, McKinnon, David , He, Hu, Glover, Arren, Shiel, Michael, & Upcroft, Ben (2014) Large scale monocular vision-only mapping from a fixed-wing sUAS. In Field and Service Robotics: Results of the 8th International Conference [Springer Tracts in Advanced Robotics, Volume 92], Springer, Matsushima, Japan, pp. 495-509. http://eprints.qut.edu.au/53102/

Warren, M. & Upcroft, B. (2013). High altitude stereo visual odometry. Paper presented at Robotics: Science and Systems IX. Retrieved from http://eprints.qut.edu.au/61674/

Warren, M. & Upcroft, B. (2013). Robust scale initialization for long-range stereo visual odometry. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems : New Horizon. Retrieved from http://eprints.qut.edu.au/61675/

Research areas

Structure and Motion

UAV

Visual Odometry

Engineering

Information and Computing Science

Technology

Artifical Intelligence and Image Processing

Spatial Data

Adaptive Agents and Intelligent Robotics

Computer Vision

Pose Estimation

Cite this collection

Warren,Michael; Upcroft,Ben. (2016): Vision, GPS and Translation and Orientation Data from a Radio-Controlled Aircraft: for testing and evaluation of stereo visual odometry and SLAM algorithms . [Queensland University of Technology]. http://researchdatafinder.qut.edu.au/individual/n937