MUN-FRL: Aerial Visual-Inertial-LiDAR Odometry and Mapping Dataset
This webpage presents the visual-inertial-LiDAR (VIL) datasets collected by an interchagable payload unit atttached to a Bell 412 Advanced Systems Research Helicopter (ASRA) helicoptor and a DJI M600 hexacoptor drone. The payload unit consists of two monocular global shutter cameras, a 3D LiDAR, an IMU, real-time kinematic (RTK) enabled global navigation system (GNSS) receiver and a Jetson AGX Xavier GPU as the processing unit. The two cameras, IMU, LiDAR and GNSS receivers are hardware time-synchronized.
Available Data
Images
FLIR BFS-U3-16S2M-BD - Nadir view [global shutter, 1140x1080, monochrome (Mono8) and color (RGB8), 20Hz]
FLIR BFS-PGE-04S2C-CS - Forward view [global shutter, 720x540, monochrome (Mono8) and color (RGB8), 20Hz]
IMU Measurements
Xsens MTi-30 IMU - [angular rate, accleration - 400Hz, magnetic field - 100Hz]
Pointclouds
Velodyne VLP-16 LiDAR - Downward facing [pointclouds, 360° horizontal, 30° vertical FOV, 10Hz]
Ground-Truth
simpleRTK2B RTK-GNSS receriver - [3D position, 5Hz]
Post processed kenematic (PPK) ground truth - [3D position, 5Hz]
Downloads
Dataset |
Size [GB] |
Length [m] |
Duration [s] |
ROS bag |
|---|---|---|---|---|
quarry1 |
27.2 |
357 |
231 |
|
quarry2 |
79.8 |
807 |
675 |
|
lighthouse |
89.9 |
890 |
756 |
|
bell412_dataset1 |
45.9 |
1709 |
432 |
|
bell412_dataset2 |
45.8 |
x |
436 |
|
bell412_dataset3 |
32.2 |
4336 |
308 |
|
bell412_dataset4 |
33.0 |
3656 |
316 |
|
bell412_dataset5 |
34.1 |
2138 |
483 |
|
bell412_dataset6 |
47.6 |
4938 |
520 |
Quick Tests on State-of-the-art Algorithms
Algorithm |
Configuration files |
|---|---|
VINS-Fusion [link] |
work-in-progres |
FAST-LVIO [link] |
work-in-progres |
LVI-SAM [link] |
work-in-progres |