This is a repository for the VIODE (Visual-Inertial Odometry in Dynamic Environments) dataset described in the paper:
Koji Minoda, Fabian Schilling, Valentin Wüest, Dario Floreano, and Takehisa Yairi, VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments, IEEE Robotics and Automation Letters (RA-L), 2021. PDF
The overall documentation is available in the above RA-L paper. If you use VIODE in academic work, please cite:
@article{minodaRAL2021,
title={{VIODE}: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments},
author={Minoda, Koji, and Schilling, Fabian, and W\"{u}est, Valentin, and Floreano, Dario, and Yairi, Takehisa},
journal={IEEE Robotics and Automation Letters},
year={2021},
volume={6},
number={2},
pages={1343-1350},
doi={10.1109/LRA.2021.3058073}}
}
A YouTube video for an introduction to the VIODE dataset:
Main ROS bag files are uploaded on Zenodo:
Data download here (A link to Zenodo)
The other two files can be downloaded from this repository.
The visual-inertial sensor data is provided in ROS bag format. Each bag contains the following topics.
/cam0/image_raw/cam1/image_raw/cam0/segmentation/cam1/segmentation/imu0/odometry
/cam0/image_raw and /cam1/image_raw contain RGB image data. Since these are captured in the simulator, we also provide ground-truth extrinsic and intrinsic parameters for this stereo setup.
/cam0/segmentation and /cam1/segmentation are the ground truth semantic segmentation provided by AirSim.
The ex-/intrinsic parameters are the same as the ones with the RGB images.
The other files are
calibration.yamlcam0_pinhole.yaml&cam1_pinhole.yamlrgb_id.txtvehicle_ids_*.txt
The calibration.yaml, cam0_pinhole.yaml, and cam1_pinhole.yaml provide extrinsic and intrinsic parameters of two cameras.
Note that the format follows that of VINS-Fusion, one of the state-of-the-art VIO algorithms.
The rgb_id.txt provides the correspondence between object ID and RGB value in segmentation images.
The vehicle_ids_*.txt contains the correspondence between object ID and object name for each environment. Object name also indicates whether the vehicle is whether dynamic or static.