UMA Visual-Inertial Dataset

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.

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Low-texture

Sequence name
Info
Download
Video (5x)
class-csc1
Time:  105.12 s
Dim scene
Here

class-csc2 
Time:  80.56 s
Dim scene
Here

corridor-eng 
Time:  144.08 s
Here

parking-csc1 
Time:  72.32 s
Dim scene
Here

 parking-csc2
Time:  73.20 s
Dim scene
Here

Indoor

Sequence name
Info
Download
Video (5x)
class-eng 
Time:  71.12 s
Here

hall1-eng
Time:  96.64 s
Dim scene
Here

hall1-rev-eng 
Time:  65.92 s
Here

hall23-eng 
Time:  255.36 s
Dim 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 s
2 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 s
Soft 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 s
Recorded on a car
Here

fantasy-csc2 
Time:  185.44 s
Recorded on a car
2 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 s
Flash due to sun reflect
Here

Challenging sequences

Sequence name
Info
Download
Video (5x)
Elevator
Time:  80.96 s
Inside 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 s
Not IMU measures
Here

Calib_cam-bumblebeeMEDIUM 
Time:  358.41 s
Not IMU measures
Here

Calib_cam-bumblebeeCHANGE
Time:  367.55 s
Not IMU measures
Here

uEye calibration intrinsics
Sequence name
Info
Download
Video (5x)
Calib_cam-ueyeMEDIUM
Time:  341.80 s
Not IMU measures
Here

Calib_cam-ueyeFAR 
Time:  403.08 s
Not IMU measures
Here

Calib_cam-ueyeOUTDOOR
Time:  179.08 s
7 IMU messages left*
Here

Photometric calibration

uEye response calibration
Sequence name
Info
Download
Video (5x)
calib_response4 
Time:  276.65 s
Here

calib_response5 
Time:  379.63 s
Here

uEye vignette calibration
Sequence name
Info
Download
Video (5x)
calib_vignette2 
Time:  76.41 s
Here

calib_vignette3 
Time:  128.64 s
Here

IMU noise calibration

Sequence name
Info
Download
UMAvi_imu_still

Time:  >141 h


IMU Frequency: 250 Hz

Here: Binary

Here: NumPy

Extrinsic calibration

Bumblebee®2 – Xsens Extrinsic calibration
Sequence name
Info
Download
Video (5x)
Calib_imu-bumblebeeENG2 
Time:  169.99 s
Not uEye measures
Here

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
Here

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