SMARTNav: A Visual-Inertial Dataset for Reliable Robotic State Estimation
In this webpage, we present the SMARTNav dataset, which stores the raw sensor data recorded by aerial and ground robots. The data was collected as part of our projects that address the challenges of autonomous navigation in industries where autonomous robots are needed. This data was mainly recorded for the evaluation of Visual-Inertial Odometry (VIO) algorithms; however, it can be used generally for vision or LiDAR-based SLAM and fusion algorithms.
Downloads
The sequences of the dataset were recorded in ROS2 bag format, and can be downloaded from the following links. Since each sequence is recorded on a different hardware and for a different project, the content of each bag file is different, but inclusion of stereo images and IMU is constant in all bag files. Currently, all the bag files are only accessible through Saxion Research Cloud Drive (SRCD).
Note: For those sequences of this dataset containing RTK data, px4-msgs (it must be release/1.15 branch) is needed. This dependency will be removed in future versions of dataset.
| Seq. Name | Size[GB] | Descriptions | Link | Snapshot |
|---|---|---|---|---|
| greenhouse_flight_3 | 6.1 | Topics: stereo images IMU RTK Sensors: ZEDX camera Holybro H-RTK F9P |
SRCD | |
| greenhouse_flight_5 | 3.1 | Topics: stereo images IMU RTK Sensors: ZEDX camera Holybro H-RTK F9P |
SRCD | |
| greenhouse_ground_1 | 7.3 | Topics: stereo images camera IMU LiDAR pointcloud LiDAR IMU GPS Sensors: ZEDX camera Holybro H-RTK F9P Ouster OS1-128 |
SRCD | |
| greenhouse_ground_2 | 7.7 | Topics: stereo images camera IMU LiDAR pointcloud LiDAR IMU GPS Sensors: ZEDX camera Holybro H-RTK F9P Ouster OS1-128 |
SRCD | |
| greenhouse_handheld_1 | 2.4 | Topics: stereo images IMU RTK Sensors: ZEDX camera Holybro H-RTK F9P |
SRCD | |
| optitrack_flight_1 | 0.5 | Topics: stereo images IMU motion capture Sensors: ZED 2 camera OptiTrack Prime 13 |
SRCD | |
| optitrack_flight_2 | 1.7 | Topics: stereo images IMU motion capture Sensors: ZED 2 camera OptiTrack Prime 13 |
SRCD | |
| optitrack_handheld_2 | 1.1 | Topics: stereo images IMU motion capture Sensors: ZED 2 camera OptiTrack Prime 13 |
SRCD | |
| optitrack_handheld_3 | 1.1 | Topics: stereo images IMU motion capture Sensors: ZED 2 camera OptiTrack Prime 13 |
SRCD | |
| outdoor_flight_3 | 2.5 | Topics: stereo images IMU RTK Sensors: ZED 2 camera Holybro H-RTK F9P |
SRCD | |
| outdoor_flight_4 | 6.8 | Topics: stereo images IMU RTK Sensors: ZED 2 camera Holybro H-RTK F9P |
SRCD | |
| outdoor_flight_5 | 8.7 | Topics: stereo images IMU RTK Sensors: ZED 2 camera Holybro H-RTK F9P |
SRCD | |
| outdoor_flight_6 | 3.5 | Topics: stereo images IMU RTK Sensors: ZED 2 camera Holybro H-RTK F9P |
SRCD | |
| sidewalk_ground_1 | 35.9 | Topics: stereo images camera IMU LiDAR pointcloud LiDAR IMU GPS Sensors: ZEDX camera Holybro H-RTK F9P Ouster OS1-128 |
SRCD | |
| corridor_ground_1 | 25.8 | Topics: stereo images camera IMU LiDAR pointcloud LiDAR IMU Sensors: ZEDX camera Ouster OS1-128 |
SRCD |
Ground Truth and Calibration
In the table below, for each sequence, a bag file containing ground-truth topic and well as the sensor calibration data are provided. The GT topic type and calibration for each sequence may differ. Our evaluation tool can handle and compare these different topic types.
Acknowledgements
This work was partly supported by the Netherlands Organization for Scientific Research (NWO) via SIA RAAK-Public project (Van bestrijden naar beheersen van de EPR, No.10.015) and SIA RAAK-MKB project (Smart Greenhouses, No.17.014).