Vision, GPS and Translation and Orientation Data from a Radio-Controlled Aircraft: for testing and evaluation of stereo visual odometry and SLAM algorithms
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.
Location of data collection
Cite this collection
Access the data
Creative Commons Attribution-NonCommercial 4.0 (CC-BY-NC)