A GNSS-Visual-IMU Dataset for SLAM
Authors: Jie Yin
Different from M2DGR, this dataset has following features:
1.More light-weight and easy for downloading.
2.Recoreded on a real car with high speed.
3.GNSS raw measurements are captured by a Ublox ZED-F9P receiver, which facilitate the GNSS-SLAM research.
Please give us a star if this project is helpful to your research. Thank you! If you use M2DGR in an academic work, please cite:
@ARTICLE{9664374,
author={Yin, Jie and Li, Ang and Li, Tao and Yu, Wenxian and Zou, Danping},
journal={IEEE Robotics and Automation Letters},
title={M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robots},
year={2021},
volume={},
number={},
pages={1-1},
doi={10.1109/LRA.2021.3138527}}
Figure 1. A picture of our acquisition platform.
Figure 2. We were calibrating the extrinsics.
The extraction code is "yj66"
Sequence | Collection Date | Total Size | Duration | Rosbag |
---|---|---|---|---|
Seq1 | 2021-12-23 | 2.37G | 349s | Rosbag |
Seq2 | 2021-12-23 | 921M | 109s | Rosbag |
Seq3 | 2021-12-23 | 1.19G | 146s | Rosbag |
Seq4 | 2021-12-23 | 850M | 112s | Rosbag |
Seq5 | 2021-12-23 | 1.26G | 159s | Rosbag |
The camera intrinsic and cam-imu extrinsics calibration results is given in Link
The ground truth of the datasets is given in Link
Authors express our appreciation for the support of Shanghai West Hongqiao Navigation Technology Co., LTD.