Full description
This dataset was gathered for testing and evaluation of stereo visual odometery and Simultaneous Localisation and Mapping or SLAM algorithms.
The data was gathered from a radio-controlled aircraft flown at Kagaru, Queensland, Australia on August 31, 2010. The data was collected from a 90second portion of the flight, taken at an altitude of 20-100m and at a speed of ~20m/s. The flight traverses over farmland and includes views of grass, an air-strip, roads, trees, ponds, parked aircraft and buildings.
The data was recorded using the Orca robotics package and consists of visual data filmed from a pair of downward facing cameras, translation and orientation information as a ground truth from an XSens Mti-g INS/GPS and additional information from a USB NMEA GPS.
The full set of images is available as seperated 1.95GB RAR files with a smaller subset of 100 images available in both raw and debayered/undistorted formats. Checksums are provided on large files to ensure integrity of the downloaded data.
Data time period: 31 08 2010 to 31 08 2010
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- Local : 10378.3/8085/1018.14937
- DOI : 10.4225/09/59b6218c78805
