Dataset
The dataset are collectect during autonomous 300m round-trip straight line flight with different speed ranging from 5m/s to 17.5m/s. The datasets are in the form of rosbags. Each rosbag contains synchronized stereo images and IMU messages. Also, GPS messages are also recorded for ground truth. Note the GPS message is not synchronized with the images and IMU. We provide a matlab script (http://mrsl.grasp.upenn.edu/ke/dataset/alignGPSandOdomVelocity.m) which aligns the time and yaw angle between the GPS and VIO odometry messages using the linear velocity in the x and y direction.
The datasets can be found at the following links. If clicking on the url below does not work, you can directly copy the link to address bar in the browser.
Top speed at 5m/s: http://mrsl.grasp.upenn.edu/ke/dataset/fla_wg_5.bag
Top speed at 10m/s: http://mrsl.grasp.upenn.edu/ke/dataset/fla_wg_10.bag
Top speed at 15m/s: http://mrsl.grasp.upenn.edu/ke/dataset/fla_wg_15.bag
Top speed at 17.5m/s: http://mrsl.grasp.upenn.edu/ke/dataset/fla_wg_175.bag
Calibration file: http://mrsl.grasp.upenn.edu/ke/dataset/camchain-imucam-fla3.yaml
An overview of the environment where the data is collected.
An example image when the quadrotor is accelerating.
