The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
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UMA-VI 数据集：低纹理和动态照明环境中的视觉惯性里程计
DOI：
10.1177/0278364920938439
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
J. Gonzalez
中科院分区：
文献类型：
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作者：
David Zuñiga;Alberto Jaenal;Ruben Gomez;J. Gonzalez
本文介绍了一个在室内和室外场景中使用手持式自定义传感器装备收集的视觉惯性数据集，总共超过80分钟。该数据集包含来自商用立体相机（Bumblebee®2）、定制立体装备和惯性测量单元的硬件同步数据。该数据集最显着的特点是低纹理环境和动态照明场景的强烈存在，这是视觉里程计和同时定位和映射（SLAM）方法的经常性角落情况。该数据集包括32个序列，并且在每个序列的开始和结束处提供有地面实况姿态，从而允许在每种情况下测量累积漂移。我们提供了一个试验评估的五个现有的国家的最先进的视觉和视觉惯性的方法的一个子集的数据集。我们还提供用于评估目的的开源工具，以及钻机中所有传感器的内部和外部校准参数。该数据集可从http://mapir.uma.es/work/uma-visual-inertial-dataset下载
This article presents a visual–inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo camera (Bumblebee®2), a custom stereo rig, and an inertial measurement unit. The most distinctive feature of this dataset is the strong presence of low-textured environments and scenes with dynamic illumination, which are recurrent corner cases of visual odometry and simultaneous localization and mapping (SLAM) methods. The dataset comprises 32 sequences and is provided with ground-truth poses at the beginning and the end of each of the sequences, thus allowing the accumulated drift to be measured in each case. We provide a trial evaluation of five existing state-of-the-art visual and visual–inertial methods on a subset of the dataset. We also make available open-source tools for evaluation purposes, as well as the intrinsic and extrinsic calibration parameters of all sensors in the rig. The dataset is available for download at http://mapir.uma.es/work/uma-visual-inertial-dataset