hkust-aerial-robotics/gvins-dataset

A dataset containing synchronized visual, inertial and GNSS raw measurements.

GVINS-Dataset

Author/Maintainer: CAO Shaozu (shaozu.cao AT gmail.com), LU Xiuyuan (xluaj AT connect.ust.hk), SHEN Shaojie (eeshaojie AT ust.hk)

This repository hosts dataset collected during the development of GVINS. The dataset contains GNSS raw measurement, visual and inertial data which are necessary for GNSS-Visual-Inertial fusion algorithm.

1. Sensor Suit

1.1. VI-Sensor

The visual and inertial data are collected using a VI-Sensor. The VI-Sensor has two Aptina MT9V034 image sensors, which form a stereo camera together, and a Analog Devices ADIS 16448 IMU. The image and inertial data from the VI-Sensor are well synchronized by hardware design. A detailed spec sheet of this sensor can be found here. The camera and IMU parameters can be found in GVINS-Dataset/data/visensor_parameters/.

1.2. u-blox ZED-F9P Receiver

We use u-blox ZED-F9P to collect GNSS raw measurements and ground truth location. The ZED-F9P owns an internal RTK engine which is capable to provide receiver's location at an accuracy of 1cm in open area. To obtain the RTK solution, a real-time RTCM stream from a 3km away GNSS observation station is fed to the receiver. The GNSS antenna in our platform is a Tallysman’s TW3882.

2. Synchronization

The time system between the VI-Sensor and the GNSS receiver is synchronized via Pluse Per Second (PPS) signal. The synchronization process is illustrated in the figure below:

1. The GNSS receiver reports the time information of next PPS signal. In our system the reporting frequency is set to 1Hz.
2. The PPS signal from the GNSS receiver is used to trigger the external interrupt of VI-Sensor. In our system the frequency of PPS is set to 0.2 Hz.
3. When VI-Sensor is interrupted by the PPS signal, it reports its local time to the host computer.

In this way the host computer knows both the global and local timestamps of the PPS signal so these two time systems get aligned together.

3. Dataset Details

The dataset is released in the form of rosbag and currently there are two rosbags available:

name	duration	size	link
sports_field	25min	20.5GB	OneDrive
complex_environment	32min	26.1GB	OneDrive
urban_driving	41min	33.4GB	OneDrive

The data items within the rosbag are listed below:

topic	type	frequency	description
/cam0/image_raw	sensor_msgs/Image	20Hz	right camera
/cam1/image_raw	sensor_msgs/Image	20Hz	left camera
/imu0	sensor_msgs/Imu	200Hz	IMU
/external_trigger	gvins/LocalSensorExternalTrigger	-	publish when VI-Sensor is trigger. definition
/ublox_driver/receiver_lla	sensor_msgs/NavSatFix	10Hz	Receiver's GNSS solution (brief).
/ublox_driver/receiver_pvt	gnss_comm/GnssPVTSolnMsg	10Hz	Receiver's GNSS solution (verbose). definition
/ublox_driver/range_meas	gnss_comm/GnssMeasMsg	10Hz	GNSS raw measurement. definition
/ublox_driver/ephem	gnss_comm/GnssEphemMsg	-	The broadcast ephemeris of GPS, Galileo and BeiDou. definition
/ublox_driver/glo_ephem	gnss_comm/GnssGloEphemMsg	-	The broadcast ephemeris of GLONASS. definition
/ublox_driver/iono_params	gnss_comm/StampedFloat64Array	-	The broadcast ionospheric parameters. definition
/ublox_driver/time_pulse_info	gnss_comm/GnssTimePulseInfoMsg	1Hz	The time information of next PPS signal. definition.

4. Toolkit

The toolkit provided in this package requires gnss_comm library.

4.1. Convert GNSS raw measurement to RINEX File

Many GNSS softwares like RTKLIB accept RINEX file as the input. To convert the GNSS raw measurements in the rosbag to the corresponding RINEX file, firstly clone this repo to your catkin workspace and set INPUT_BAG_FILEPATH and OUTPUT_RINEX_FILEPATH in toolkit/src/bag2rinex.cpp. Then build and run the toolkit with:

cd ~/catkin_ws/
catkin_make
source devel/setup.bash
rosrun gvins_dataset_toolkit bag2rinex

The observation RINEX file should be generated after a while. The corresponding GNSS ephemeris RINEX file can be found in GVINS-Dataset/data/ephemeris_rinex/.

4.2 Save RTK solution to csv file

To extract the RTK solution and status to a local csv file, firstly set INPUT_BAG_FILEPATH and OUTPUT_RTK_FILEPATH in toolkit/src/bag2rtk_solution.cpp. Then build and run the toolkit with:

cd ~/catkin_ws/
catkin_make
source devel/setup.bash
rosrun gvins_dataset_toolkit bag2rtk_solution

Each record in the generated csv file is in the form of:

gnss_ts_ns, ecef_px, ecef_py, ecef_pz, enu_vx, enu_vy, enu_vz, fix_type, valid_fix, diff_soln, carr_soln

, with each item described in the following:

name	description
gnss_ts_ns	GNSS time of the navigation epoch (expressed as Unix timestamp in ns)
ecef_p*	The x, y, z component of the position in ECEF frame
enu_v*	The x, y, z component of the velocity in ENU frame
fix_type	GNSS fix type (0=no fix, 1=dead reckoning only, 2=2D-fix, 3=3D-fix, 4=GNSS+dead reckoning combined, 5=time only fix)
valid_fix	if fix valid (1=valid fix)
diff_soln	if differential correction were applied (1=applied)
carr_soln	carrier phase range solution status (0=no carrier phase, 1=float, 2=fix)

5. License

The dataset is released under CC-BY-NC-SA-4.0 license.

gvins-dataset's Issues

I'd like to ask CSV files

Would you mind if I'm asking CSV files converted from urban _driving.bag?
Actually I tried to convert it into CSV and most of data are converted well, however, raw measurements, such as range, doppler and etc, have problems with missing and wrong some data.
Please, let me ask a correct data including raw measurements.
Thanks in advance.

distortion_model

Hi,Can you tell me what the distortion model of this data set is?

Could the rosbag file called “”sports_fileds.bag“” be applied for VINS-MONO?

I apply the sport_filled.bag for VINS-mono .but when I requeie roslaunch vins_estimator euroc.launch the teminal showed

I want to ask this .bag file whether could be apply for vins-mono?

error opening .bag file

I tried to use the gvins-dataset toolbox to convert GNSS raw data to RINEX file format, but there was no prompt Bag file failed to open. I don't know why? Similarly, saving RTK solution as CSV file also failed. It is worth noting that my file uses the data source provided in gvins

这是我的输入信息

Urban driving data

could you please upload the urban driving data?

Question: testing VINS-Fusion with GVINS-Dataset

Thank you very much for sharing both GVINS and this dataset.

Evaluating VINS-Fusion as visual-inertial (1 camera + 1 IMU) and global optimization with GNSS processed with RTKLIB, for Sports Field bag, estimations beyond 600 meters start to oscillate severely, as if the transformation WGPS_T_WVIO returned suddenly to identity matrix and then it is inmediatly corrected.

I suspect this is due to not limiting the size of the optimization problem in the global optimization node, as the version I am using takes into account every available result from VIO and GNSS (i.e. optimize() in globalOpt.cpp includes the whole localPoseMap). I have checked this here https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/global_fusion/src/globalOpt.cpp.

The time spent in global optimization increases over time, leading to vins_node's death after the bag has been played for 18 minutes 20 secs.: feeding the global optimization node with the standalone version of VINS-Mono succeeds estimating the whole trayectory, yet the huge oscillations remain (figure above shows the global optimization time using VINS-Mono as VIO).

I am not completely sure I have not modified anything sensitive in the VINS-Fusion code, is this issue usual? I believe the problem resides in the global optimization not being limited.

Thank you for your time.

alpha and eta values for the MEI model

Hi all,
I'm not particularly familiar with the MEI camera model, so I had a look at the paper first.

It seems the matrix K depends on two parameters that are not provided by the yaml: alpha (required to get the skew) and eta, which depends on the parametric curve used.

What assumptions have been made for alpha and eta?
Can in first approximation assume alpha = 0 and eta = -1?

Thanks,
Marco.

Can you provide the ROS code for recording Ublox GPS raw data?

Thank you very much for your work. Can you provide the ROS code for recording Ublox GPS raw data?

The relative position parameter between GPS receiver and IMU

Can you provide the relative position parameter between GPS receiver and IMU ?

How to set the frequency of PPS signal to 0.2 Hz by u-center?

You mentioned that in the README：

1. The GNSS receiver reports the time information of next PPS signal. In our system the reporting frequency is set to 1Hz.
2. The PPS signal from the GNSS receiver is used to trigger the external interrupt of VI-Sensor. In our system the frequency of PPS is set to 0.2 Hz.
   Did you set that by u-center as below？
   
   But I don't know how to set the frequency of PPS signal to 0.2 Hz. And how to set the reporting frequency to 1Hz?

the lever arm parameters between GNSS antenna and IMU

Can the lever arm parameters between GNSS antenna and IMU be given?

Convert error

Here is my modification:

#define INPUT_BAG_FILEPATH "/home/XXXX/GVINS/sports_field/sports_field.bag"
#define OUTPUT_RINEX_FILEPATH "/home/XXXX/GVINS/sports_field/"

and it reports error:

rosrun gvins_dataset_toolkit bag2rinex
段错误 (核心已转储)

Camera calibration dataset / pinhole camera model

@shaozu thank you for making these datasets available to the public.
We would like to run code on your dataset that supports only the pinhole camera model, not the Mei model. Do you think you could provide a calibration dataset such that we can run kalibr and use the model that we support? Or maybe you have calibrated a pinhole camera model yourself already or it would be very easy for you to do?