UMA Visual-Inertial Dataset – Page 2

————————————————-

Links (update July 2023)

Dear researchers,
The official server in which the dataset was hosted was shut down due to security issues, and the dataset has been unavailable for a while. This new link leads to a partial upload in Zenodo, where all the running sequences are upload, but some of the calibration ones.
If you have any trouble, please contact us.

————————————————-

Contents

Data
Calibration Data

Data

To obtain the rosbag files we originally recorded or another kind of data or information, please contact us.
Due to hardware limitations, there are some sequences in which some IMU messages were lost. However, the remain IMU messages are published in their proper time.

ATTENTION: Your browser may not directly download the files form the Here links. In that case, just copy the address or try another one.

Low-texture

Sequence name	Info	Download	Video (5x)
class-csc1	Time: 105.12 sDim scene	Here
class-csc2	Time: 80.56 sDim scene	Here
corridor-eng	Time: 144.08 s	Here
parking-csc1	Time: 72.32 sDim scene	Here
parking-csc2	Time: 73.20 sDim scene	Here

Indoor

Sequence name	Info	Download	Video (5x)
class-eng	Time: 71.12 s	Here
hall1-eng	Time: 96.64 sDim scene	Here
hall1-rev-eng	Time: 65.92 s	Here
hall23-eng	Time: 255.36 sDim scene	Here
third-floor-eng	Time: 141.44 s	Here

Outdoor

Sequence name	Info	Download	Video (5x)
gattaca-csc1	Time: 77.44 s	Here
gattaca-csc2	Time: 237.36 s	Here
long-corridor12-csc1	Time: 272.56 s	Here
long-corridor12-csc2	Time: 262.96 s2 IMU messages left*	Here
long-corridor23-csc2	Time: 289.20 s	Here
parking-eng2	Time: 86.16 s	Here

Indoor-Outdoor dynamic illumination

Sequence name	Info	Download	Video (5x)
lab-module-csc	Time: 175.84 s	Here
lab-module-rev-csc	Time: 181.76 s	Here
long-walk-eng	Time: 267.2 sSoft blinking	Here
two-floors-csc1	Time: 132.40 s	Here
two-floors-csc2	Time: 143.04 s	Here

Indoor with illumination changes

Sequence name	Info	Download	Video (5x)
conference-csc1	Time: 185.2 s	Here
conference-csc2	Time: 94.08 s	Here
conference-csc3	Time: 72.24 s	Here
third-floor-csc1	Time: 76.40 s	Here
third-floor-csc2	Time: 78.88 s	Here

Sun overexposure

Sequence name	Info	Download	Video (5x)
fantasy-csc1	Time: 147.92 sRecorded on a car	Here
fantasy-csc2	Time: 185.44 sRecorded on a car2 IMU messages left*	Here
hall1-two-floors-eng	Time: 169.33 s	Here
long-corridor23-csc1	Time: 264.64 s	Here
long-corridor23-rev-csc	Time: 258.48 s	Here
parking-eng1	Time: 72.64 sFlash due to sun reflect	Here

Challenging sequences

Sequence name	Info	Download	Video (5x)
Elevator	Time: 80.96 sInside an elevator (IMU measures movement but image remains still)	Here

Calibration Data

Intrinsic calibration

Bumblebee®2 calibration intrinsics
Sequence name	Info	Download	Video (5x)
Calib_cam-bumblebeeCLOSE	Time: 139.65 sNot IMU measures	On request
Calib_cam-bumblebeeMEDIUM	Time: 358.41 sNot IMU measures	Here
Calib_cam-bumblebeeCHANGE	Time: 367.55 sNot IMU measures	On request
uEye calibration intrinsics
Sequence name	Info	Download	Video (5x)
Calib_cam-ueyeMEDIUM	Time: 341.80 sNot IMU measures	Here
Calib_cam-ueyeFAR	Time: 403.08 sNot IMU measures	On request
Calib_cam-ueyeOUTDOOR	Time: 179.08 s7 IMU messages left*	On request

Photometric calibration

uEye response calibration
Sequence name	Info	Download	Video (5x)
calib_response4	Time: 276.65 s	On request
calib_response5	Time: 379.63 s	On request
uEye vignette calibration
Sequence name	Info	Download	Video (5x)
calib_vignette2	Time: 76.41 s	On request
calib_vignette3	Time: 128.64 s	On request

IMU noise calibration

Sequence name

Info

Download

UMAvi_imu_still

Time: >141 h

IMU Frequency: 250 Hz

On request

Extrinsic calibration

Bumblebee®2 – Xsens Extrinsic calibration
Sequence name	Info	Download	Video (5x)
Calib_imu-bumblebeeENG2	Time: 169.99 s Not uEye measures	On request
uEye – Xsens Extrinsic calibration
Sequence name	Info	Download	Video (5x)
Calib_imu-ueyeENG2	Time: 187.83 s Not Bumblebee®2 measures	Here
Bumblebee®2 – uEye – Xsens Extrinsic calibration
Sequence name	Info	Download	Video (5x)
Calib_imu-camBRIDGE	Time: 81.83 s 3 messages left*	Here
Calib_imu-camOUTDOOR	Time: 78.95 s	On request