{"id":2108,"date":"2020-07-10T00:00:00","date_gmt":"2020-07-10T00:00:00","guid":{"rendered":"https:\/\/mapir.isa.uma.es\/mapirwebsite_wordpress\/?p=2108"},"modified":"2023-07-24T21:55:14","modified_gmt":"2023-07-24T21:55:14","slug":"uma-visual-inertial-dataset","status":"publish","type":"post","link":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/?p=2108","title":{"rendered":"UMA Visual-Inertial Dataset"},"content":{"rendered":"\n<p>The UMA Visual Inertial Dataset is a collection of 32 sequences obtained in challenging conditions (changing light, low-terxtured scenes) with a handheld custom rig composed by a stereo camera, a stereo rig and a Inertial Measurement Unit.<\/p>\n\n\n\n<!--more-->\n\n\n\n<figure class=\"wp-block-image\"><img src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/UMAVI.png\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator\" id=\"system-readmore\"\/>\n\n\n\n<p class=\"has-text-align-center has-large-font-size\"><span style=\"font-size: 32pt;\"><strong>The UMA-VI Dataset: Visual-Inertial Odometry in Low-textured and Dynamic Illumination Environments<\/strong><\/span><\/p>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<p><strong>Contact:<\/strong> <a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/\" rel=\"alternate\">David Zu\u00f1iga-No\u00ebl<\/a>, <a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/?p=2022\" rel=\"alternate\">Alberto Jaenal<\/a>, <a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/\" rel=\"alternate\">Ruben Gomez-Ojeda<\/a>, and <a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/?p=1536\" rel=\"alternate\">Javier Gonzalez-Jimenez<\/a><\/p>\n\n\n\n<p><strong>Mails:<\/strong> dzuniga@uma.es, alberto.jaenal@uma.es <\/p>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">This paper presents a visual-inertial dataset gathered in indoor and outdoor scenarios with a handheld custom sensor rig, for over 80 min in total. The dataset contains hardware-synchronized data from a commercial stereo camera (Bumblebee\u00ae2), a custom stereo rig and an inertial measurement unit.\nThe most distinctive feature of this dataset is the strong presence of low-textured environments and scenes with dynamic illumination, which are recurrent corner cases of visual odometry and SLAM methods. The dataset comprises 32 sequences and is provided with pseudo-  ground truth poses at the beginning and the end of each of the sequences, thus allowing to measure the accumulated drift in each case. We also make available open source tools for evaluation purposes, as well as the intrinsic and extrinsic calibration parameters of all sensors in the rig.<\/span><\/p>\n\n\n\n<div id=\"toc_container\" class=\"no_bullets\"><p class=\"toc_title\">Contents<\/p><ul class=\"toc_list\"><ul><li><a href=\"#Downloads\">Downloads<\/a><\/li><\/ul><\/li><li><a href=\"#Video\">Video<\/a><ul><li><a href=\"#1_Summary\">1. Summary<\/a><\/li><li><a href=\"#2_Hardware\">2. Hardware<\/a><\/li><li><a href=\"#3_Dataset_Sequences\">3. Dataset Sequences<\/a><\/li><li><a href=\"#4_Calibration_Sequences\">4. Calibration Sequences<\/a><ul><li><a href=\"#41_Cameranbspintrinsic_calibration\">4.1. Camera&nbsp;intrinsic calibration<\/a><\/li><li><a href=\"#42_Cameranbspphotometric_calibration\">4.2. Camera&nbsp;photometric calibration<\/a><\/li><li><a href=\"#43_IMU_Noise_Calibration\">4.3. IMU Noise Calibration<\/a><\/li><li><a href=\"#44_Extrinsicnbspcalibration\">4.4. Extrinsic&nbsp;calibration<\/a><\/li><\/ul><\/li><li><a href=\"#5_Evaluation\">5. Evaluation<\/a><\/li><li><a href=\"#6_Tools\">6. Tools<\/a><\/li><li><a href=\"#7_License\">7. License<\/a><\/li><li><a href=\"#Downloads-2\">Downloads <\/a><\/li><li><a href=\"#Datanbsp\">Data&nbsp;<\/a><ul><li><a href=\"#Low-texture\">Low-texture<\/a><\/li><li><a href=\"#Indoor\">Indoor<\/a><\/li><li><a href=\"#Outdoor\">Outdoor<\/a><\/li><li><a href=\"#Indoor-Outdoor_dynamic_illumination\">Indoor-Outdoor dynamic illumination<\/a><\/li><li><a href=\"#Indoor_with_illumination_changes\">Indoor with illumination changes<\/a><\/li><li><a href=\"#Sun_overexposure\">Sun overexposure<\/a><\/li><li><a href=\"#Challenging_sequences\">Challenging sequences<\/a><\/li><\/ul><\/li><li><a href=\"#Calibration_Data\">Calibration Data<\/a><ul><li><a href=\"#Intrinsic_calibration\">Intrinsic calibration<\/a><\/li><li><a href=\"#Photometric_calibration\">Photometric calibration<\/a><\/li><li><a href=\"#IMU_noise_calibration\">IMU noise calibration<\/a><\/li><li><a href=\"#Extrinsic_calibration\">Extrinsic calibration<\/a><\/li><\/ul><\/li><\/ul><\/li><\/ul><\/div>\n<h2 class=\"has-text-align-center\"><span id=\"Downloads\">Downloads<\/span><\/h2>\n\n\n\n<p class=\"has-text-align-center\"> <a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/?p=2108&amp;page=2\">Here<\/a><\/p>\n\n\n\n<h1 class=\"has-text-align-center\"><span id=\"Video\">Video<\/span><\/h1>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1lgptRpp4QkIsZZYseO4hFRcJfdWA7fwk\/preview?usp=sharing\" width=\"960\" height=\"544\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<p><img loading=\"lazy\" width=\"1250\" height=\"200\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/Seq.png\" alt=\"\"><\/p>\n\n\n\n<p>If you use this dataset, please cite it through (the paper is available <a href=\"http:\/\/mapir.uma.es\/papersrepo\/2020\/2020_The_UMA-VI_dataset_Visual%e2%80%93inertial_odometry_in_low-textured_and_dynamic_illumination_environments.pdf\" rel=\"alternate\">here<\/a>):&nbsp; &nbsp; &nbsp;<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">@article{zuniga2020vi,\n     title={The UMA-VI dataset: Visual--inertial odometry in low-textured and dynamic illumination environments},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   author={Zu{\\~n}iga-No{\\\"e}l, David and Jaenal, Alberto and Gomez-Ojeda, Ruben and Gonzalez-Jimenez, Javier},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   journal={The International Journal of Robotics Research},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   volume={39},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   number={9},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   pages={1052--1060},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   year={2020},\n  <meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">   publisher={SAGE Publications Sage UK: London, England}\n }<\/pre>\n\n\n\n<p><img loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/LowTexture.png\" alt=\"\" width=\"1250\" height=\"200\"><\/p>\n\n\n\n<h2><span id=\"1_Summary\">1. Summary<\/span><\/h2>\n\n\n\n<p>The dataset contains 32 sequences for the evaluation of VI motion estimation methods, totalling \u223c80 min of data. The dataset covers challenging conditions (mainly illumination changes and low textured environments) in different degrees and a wide rage of scenarios (including corridors, parking, classrooms, halls, etc.) from two different buildings at the University of Malaga. In general, we provide at least two different sequences within the same scenario, with different illumination conditions or following different trajectories. All sequences were recorded with our VI sensor handheld, except a few that were recorded while mounted in a car.<\/p>\n\n\n\n<h2><span id=\"2_Hardware\">2. Hardware<\/span><\/h2>\n\n\n\n<p>We designed a custom VI sensor unit for data collection purposes. Our VI sensor consists of two stereo rigs and a three-axis inertial unit, as can be seen in the image below:<\/p>\n\n\n\n<p><img loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/rig.png\" alt=\"\" width=\"500\" height=\"288\">&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong>Sensor<\/strong><\/center><\/td><td><center><strong>Type<\/strong><\/center><\/td><td><center><strong>Quantity<\/strong><\/center><\/td><td><center><strong>Frequency (Hz)<\/strong><\/center><\/td><td><center><strong>Image size<\/strong><\/center><\/td><\/tr><tr><td><center>Point Grey Bumblebee\u00ae2 (BB2-08S2C-25)<\/center><\/td><td><center>Stereo color camera (EquiDistant model)<\/center><\/td><td><center>1<\/center><\/td><td><center>12.5<\/center><\/td><td><center>1024x768x3<\/center><\/td><\/tr><tr><td><center>uEye UI-1226LE-M<\/center><\/td><td><center>Mono camera (RadTan model)<\/center><\/td><td><center>2 (Custom Stereo Rig)<\/center><\/td><td><center>25<\/center><\/td><td><center>752&#215;480<\/center><\/td><\/tr><tr><td><center>Xsens MTi-28A53G35<\/center><\/td><td><center>Inertial Measurement Unit<\/center><\/td><td><center>1<\/center><\/td><td><center>250<\/center><\/td><td>&nbsp;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2><span id=\"3_Dataset_Sequences\">3. Dataset Sequences<\/span><\/h2>\n\n\n\n<p>The dataset sequences have been classified depending on the type of challenge addressed. Each sequence is stored as a single .zip file and named following the format: <\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>Name-BuildingNumber(-Reverse)_Date_Class<\/strong><\/p>\n\n\n\n<p>&nbsp;All the secuence files contain (the format used is explained in the paper):<\/p>\n\n\n\n<ul><li>synchornized timestamps for camera and IMU<\/li><li>the ground truth poses for the&nbsp;start and the end of each sequence,&nbsp; in order to allow a measure of the drift of the tested algorithm<\/li><li>the exposure time of each image<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong> Category <\/strong><\/center><\/td><td><center><strong> Description <\/strong><\/center><\/td><td><center><strong> Number of sequences <\/strong><\/center><\/td><td><center><strong> Total time <\/strong><\/center><\/td><\/tr><tr><td><center><a href=\"#LT\">Low-texture<\/a><\/center><\/td><td><center>indoor sequences showing environments lacking distinctive features or with repetitive textures<\/center><\/td><td><center>5<\/center><\/td><td><center>7.9 min<\/center><\/td><\/tr><tr><td><center><a href=\"#Indoor\">Indoor<\/a><\/center><\/td><td><center>sequences containing dark and light areas in indoor scenarios<\/center><\/td><td><center>5<\/center><\/td><td><center>8.4 min<\/center><\/td><\/tr><tr><td><center><a href=\"#Outdoor\">Outdoor<\/a><\/center><\/td><td><center>sequences containing natural illumination changes present in outdoor environments<\/center><\/td><td><center>6<\/center><\/td><td><center>20.4 min<\/center><\/td><\/tr><tr><td><center><a href=\"#InOut\">Indoor-Outdoor dynamic illumination<\/a><\/center><\/td><td><center>sequences containing the typical illumination changes of indoors\/outdoors transitions<\/center><\/td><td><center>5<\/center><\/td><td><center>15 min<\/center><\/td><\/tr><tr><td><center><a href=\"#Illumination\">Indoor with illumination changes<\/a><\/center><\/td><td><center>indoor sequences with forced artificial lightning changes (spotlights, lights on and off)<\/center><\/td><td><center>5<\/center><\/td><td><center>10 min<\/center><\/td><\/tr><tr><td><center><a href=\"#Overexposure\">Sun overexposure<\/a><\/center><\/td><td><center>particularly challenging sequences with a blinking effect in the uEye cameras caused by direct exposure to the sunlight, which saturates the imaging sensors and causes fast fluctuations in the exposure time<\/center><\/td><td><center>6<\/center><\/td><td><center>18.3 min<\/center><\/td><\/tr><tr><td><center><a href=\"#Challenging\">Challenging sequences<\/a><\/center><\/td><td><center>extra challenging sequences which were not counted on the dataset paper<\/center><\/td><td><center>1<\/center><\/td><td><center>1.3 min<\/center><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2><span id=\"4_Calibration_Sequences\">4. Calibration Sequences<\/span><\/h2>\n\n\n\n<p> The calibration parameters of our VI sensor can be downloaded <a href=\"http:\/\/ftp.uma.es\/Mapir\/UMA_VI\/calibration_files.zip\" rel=\"alternate\">here<\/a>. We also provide the corresponding calibration sequence, allowing custom calibration methods to be used with our dataset. <\/p>\n\n\n\n<p>The parameters of the <a rel=\"alternate\" href=\"https:\/\/github.com\/ethz-asl\/kalibr\/wiki\/calibration-targets#a-aprilgrid\">AprilTag grid<\/a> used in the calibration sequences are showen below. The file can also be downloaded <a rel=\"alternate\" href=\"http:\/\/ftp.uma.es\/Mapir\/UMA_VI\/april_6x6.yaml\">here<\/a>.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><pre><code>target_type: 'aprilgrid'    #gridtype<br>tagCols: 6                  #number of apriltags<br>tagRows: 6                  #number of apriltags<br>tagSize: 0.0868             #size of apriltag, edge to edge [m]<br>tagSpacing: 0.2903          #ratio of space between tags to tagSize<\/code><\/pre><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"41_Cameranbspintrinsic_calibration\">4.1. <span style=\"font-size: 18pt;\"><strong>Camera&nbsp;intrinsic calibration<\/strong><\/span><\/span><\/h3>\n\n\n\n<p>We  calibrated  the intrinsic parameters (the projection parameters of each camera as well as the relative spatial transformation between the two cameras of each stereo setup) for each stereo rig independently. For that purpose, we recorded the calibration pattern (<a href=\"https:\/\/github.com\/ethz-asl\/kalibr\/wiki\/calibration-targets#a-aprilgrid\" rel=\"alternate\">AprilTag grid<\/a>) while slowly moving the VI sensor unit in front of it. The final calibration parameters were estimated using the calibration toolbox  <a href=\"https:\/\/github.com\/ethz-asl\/kalibr\" rel=\"alternate\">Kalibr<\/a>. The next table shows three different sequences to calibrate each stereo pair.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong> Category <\/strong><\/center><\/td><td><center><strong> Description <\/strong><\/center><\/td><td><center><strong> Number of sequences <\/strong><\/center><\/td><td><center><strong> Total time <\/strong><\/center><\/td><\/tr><tr><td><center><a href=\"#B_intrinsic\">Bumblebee\u00ae2 intrinsic calibration sequences<\/a><\/center><\/td><td><center>sequences showing the calibration pattern while slowly moving the VI sensor unit in front of it<\/center><\/td><td><center>3<\/center><\/td><td><center>14.43 min<\/center><\/td><\/tr><tr><td><center><a href=\"#U_intrinsic\">uEye intrinsic calibration sequences<\/a><\/center><\/td><td><center>sequences showing the calibration pattern while slowly moving the VI sensor unit in front of it<\/center><\/td><td><center>3<\/center><\/td><td><center>15.4 min<\/center><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"42_Cameranbspphotometric_calibration\">4.2. <strong>Camera&nbsp;photometric calibration<\/strong><\/span><\/h3>\n\n\n\n<p>In order to allow direct VI approaches to be used with our dataset, we also provide calibration sequences for the sensor\u2019s response function and lens vignetting mafor the uEye monochrome camera. To obtain the cameras response function, we recorded a static scene with different exposure times (ranging from 0.07 ms to 20 ms with the smallest steps allowed by the sensor). For the vignette calibration, we recorded a known marker (<a href=\"https:\/\/github.com\/tum-vision\/mono_dataset_code\/blob\/master\/marker.pdf\" rel=\"alternate\">ArUco<\/a>) on a white planar surface while moving the VI sensor in order to observe it from different angles. In the next table we provide two Response sequences and two Vignette sequences.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong> Category <\/strong><\/center><\/td><td><center><strong> Description <\/strong><\/center><\/td><td><center><strong> Number of sequences <\/strong><\/center><\/td><td><center><strong> Total time <\/strong><\/center><\/td><\/tr><tr><td><center><a href=\"#response\">uEye response calibration sequences<\/a><\/center><\/td><td><center>sequences showing static scene with different exposure times (ranging from 0.07 ms to 20 ms with the smallest steps allowed by the sensor)<\/center><\/td><td><center>2<\/center><\/td><td><center>10.94 min<\/center><\/td><\/tr><tr><td><center><a href=\"#vignette\">uEye vignette calibration sequences<\/a><\/center><\/td><td><center>sequences showing the <a href=\"https:\/\/github.com\/tum-vision\/mono_dataset_code\/blob\/master\/marker.pdf\" rel=\"alternate\">ArUco<\/a> tag on a white planar surface while moving the VI sensor in order to observe it from different angles<\/center><\/td><td><center>2<\/center><\/td><td><center>3.42 min<\/center><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>The photometric camera calibration (<a href=\"https:\/\/arxiv.org\/abs\/1607.02555\" rel=\"alternate\">A Photometrically Calibrated Benchmark For Monocular Visual Odometry<\/a>) was performed only on the uEye camera (given that the Bumblebee parameters are continuously autoadjusted). To perform such calibration, we used the&nbsp;<a href=\"https:\/\/github.com\/AlbertoJaenal\/mono_dataset_code\" rel=\"alternate\">mono_dataset_code<\/a> (edited by Alberto Jaenal). The vignette calibration results are shown in the next image (we calibrated the camera as a&nbsp;<strong>RadTan<\/strong> model):<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/Vign.png\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>Our results for the photometric calibration of each uEye camera are:<\/p>\n\n\n\n<ul><li>Response: <a href=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/photo_calib\/cam2_response.txt\" rel=\"alternate\">cam2_response.txt<\/a>,&nbsp;<a href=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/photo_calib\/cam2_response.txt\" rel=\"alternate\">cam3_response.txt<\/a><\/li><li>Vignette: <a href=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/photo_calib\/cam2_vignette.png\" rel=\"alternate\">cam2_vignette.png<\/a>,&nbsp;<a href=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/photo_calib\/cam3_vignette.png\" rel=\"alternate\">cam3_vignette.png&nbsp;<\/a><\/li><\/ul>\n\n\n\n<h3><span id=\"43_IMU_Noise_Calibration\">4.3. <strong>IMU Noise Calibration<\/strong><\/span><\/h3>\n\n\n\n<p class=\"has-text-align-left\">The IMU intrinsics were obtained using the approach developed in&nbsp;<a rel=\"alternate\" href=\"https:\/\/arxiv.org\/abs\/1804.06120\">The TUM VI Benchmark for Evaluating Visual-Inertial Odometry<\/a>, in which the authors approximate the value of the deviation of white noise and bias by Allan deviations. The&nbsp;calibration sequence is avalaible for download as .bin and .npy&nbsp;files with the next formats:<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td> <center><strong>    Binary    <\/strong><\/center><\/td><td><p><span style=\"font-size: 8pt;\"><span style=\"font-family: 'courier new', courier;\">     # Unsigned long long timestamp, double&nbsp;gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z (Little endian)&nbsp;<\/span><\/span><\/p>\n<\/td><\/tr><tr><td> <center style=\"text-align: center;\"><strong>    NumPy    <\/strong><\/center><\/td><td><p><span style=\"font-size: 8pt;\"><span style=\"font-family: 'courier new', courier;\">     # timestamp, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z&nbsp;<\/span><\/span><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong> Category <\/strong><\/center><\/td><td><center><strong> Description <\/strong><\/center><\/td><td><center><strong> Number of sequences <\/strong><\/center><\/td><td><center><strong> Total time <\/strong><\/center><\/td><\/tr><tr><td><center><a href=\"#IMU\">IMU noise calibration sequence<\/a><\/center><\/td><td><center>  sequences of our VI sensor resting capturing data for a long period  <\/center><\/td><td><center>1<\/center><\/td><td><center>141.3 h<\/center><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>The calibration was performed with the <a href=\"https:\/\/github.com\/AlbertoJaenal\/imu_still_calibration\" rel=\"alternate\">IMU_calib_still<\/a>&nbsp;tool. The results for the IMU intrinsic Noise Calibration are shown below:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img src=\"http:\/\/mapir.isa.uma.es\/albertojaenal\/UMAVI\/calib_imu.png\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-table\"><table style=\"margin-left: auto; margin-right: auto;\">\n<tbody>\n<tr>\n<td>\n<pre><code>imu0:\n  T_i_b:\n  - [1.0, 0.0, 0.0, 0.0]\n  - [0.0, 1.0, 0.0, 0.0]\n  - [0.0, 0.0, 1.0, 0.0]\n  - [0.0, 0.0, 0.0, 1.0]\n\n  #Accelerometers\n  accelerometer_noise_density: 0.0007970737515806496 #Noise density (continuous-time)\n  accelerometer_random_walk: 4.134509826460877e-06 #Bias random walk\n\n  #Gyroscopes\n  gyroscope_noise_density: 0.00046306229509090514 #Noise density (continuous-time)\n  gyroscope_random_walk: 9.798339194666108e-07 #Bias random walk\n\n  model: calibrated\n  rostopic: \/imu0\/data #the IMU ROS topic\n  time_offset: 0.0\n  update_rate: 250.0  #Hz (for discretization of the values above)\n\n<\/code><\/pre>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table><\/figure>\n\n\n\n<h3><span id=\"44_Extrinsicnbspcalibration\">4.4. <strong>Extrinsic&nbsp;calibration<\/strong><\/span><\/h3>\n\n\n\n<p>We calibrated  the  extrinsics  as  well  as  the  time-sinchronization offsets for each camera with respect to the IMU. For that purpose, we again recorded the calibration pattern (<a href=\"https:\/\/github.com\/ethz-asl\/kalibr\/wiki\/calibration-targets#a-aprilgrid\" rel=\"alternate\">AprilTag grid<\/a>) while moving the VI sensor unit in front of it, trying to excite the three axes of the IMU with rotation and translation movements. We used <a href=\"https:\/\/github.com\/ethz-asl\/kalibr\" rel=\"alternate\">Kalibr<\/a> to estimate the extrinsic parameters and time delays of the cameras. <\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><center><strong> Category <\/strong><\/center><\/td><td><center><strong> Description <\/strong><\/center><\/td><td><center><strong> Number of sequences <\/strong><\/center><\/td><td><center><strong> Total time <\/strong><\/center><\/td><\/tr><tr><td><center><a href=\"#BX_extrinsic\">Bumblebee\u00ae2-Xsens extrinsic calibration sequences<\/a><\/center><\/td><td><center>sequences showing the calibration pattern while slowly exciting the three axes of the IMU with rotation and translation movements<\/center><\/td><td><center>1<\/center><\/td><td><center>2.83 min<\/center><\/td><\/tr><tr><td><center><a href=\"#UX_extrinsic\">uEye-Xsens extrinsic calibration sequences<\/a><\/center><\/td><td><center>sequences showing the calibration pattern while slowly exciting the three axes of the IMU with rotation and translation movements<\/center><\/td><td><center>1<\/center><\/td><td><center>3.13 min<\/center><\/td><\/tr><tr><td><center><a href=\"#BUX_extrinsic\">Bumblebee\u00ae2-uEye-Xsens extrinsic calibration sequences<\/a><\/center><\/td><td><center>sequences showing the calibration pattern while slowly exciting the three axes of the IMU with rotation and translation movements<\/center><\/td><td><center>2<\/center><\/td><td><center>2.68 min<\/center><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>&nbsp;The results for both the intrinsic calibration of each stero pair and its extrinsic calibration with the the IMU are provided below:<\/p>\n\n\n\n<p class=\"has-text-align-center has-small-font-size\"><strong>Bumblebee\u00ae2 &#8211; IMU<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\n<pre><code>cam0:\n  T_cam_imu:\n  - [-0.9999193557683889, 0.0078087424182379074, 0.010015263430135759, 0.04560803849154623]\n  - [-0.007982464004835765, -0.9998163145030406, -0.017424624012229308, 0.11460657726930963]\n  - [0.009877359370849279, -0.017503165296644745, 0.9997980180898823, 0.00939792035366669]\n  - [0.0, 0.0, 0.0, 1.0]\n  cam_overlaps: [1]\n  camera_model: pinhole\n  distortion_coeffs: [-0.06983837053126551, 0.030679193251357234, -0.029318268716673087,\n    0.008383563478792275]\n  distortion_model: equidistant\n  intrinsics: [545.7402000594014, 546.4624873938807, 516.7898455908171, 399.68834148863493]\n  resolution: [1024, 768]\n  rostopic: \/cam0\/image_raw\n  timeshift_cam_imu: 0.009104475174114907\ncam1:\n  T_cam_imu:\n  - [-0.9998724143729596, 0.005897711082467781, 0.014844931120653937, -0.07256189628225355]\n  - [-0.0061818005321482745, -0.999797231887982, -0.019164562382438875, 0.11533023680091473]\n  - [0.014728893990044001, -0.01925388566283171, 0.999706130604746, 0.008673101875104373]\n  - [0.0, 0.0, 0.0, 1.0]\n  T_cn_cnm1:\n  - [0.99998651003287, 0.00182615045541887, 0.004862604939401894, -0.11842430675006582]\n  - [-0.0018177951894695365, 0.9999968649306907, -0.0017221351400740366, 0.0008231093930239588]\n  - [-0.0048657345726687215, 0.0017132726886604664, 0.999986694573365, -0.0006991291443189622]\n  - [0.0, 0.0, 0.0, 1.0]\n  cam_overlaps: [0]\n  camera_model: pinhole\n  distortion_coeffs: [-0.059680378064520846, 0.01009738651194745, -0.01025701371639368,\n    0.002248862281197446]\n  distortion_model: equidistant\n  intrinsics: [543.6000821015224, 544.4238023037506, 524.280213672173, 381.4178892040695]\n  resolution: [1024, 768]\n  rostopic: \/cam1\/image_raw\n  timeshift_cam_imu: 0.009130586492863666\n\n<\/code><\/pre>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"has-text-align-center has-small-font-size\"><strong>uEye &#8211; IMU<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\n<pre><code>cam0:\n  T_cam_imu:\n  - [-0.9996891001069981, -0.024321238097913023, 0.005493678607751144, 0.11425322792996404]\n  - [0.024372821606514775, -0.9996575482196979, 0.009526376767667806, -0.013218431734117795]\n  - [0.005260104010154635, 0.009657311466820284, 0.9999395319923278, -0.03159608818108305]\n  - [0.0, 0.0, 0.0, 1.0]\n  cam_overlaps: [1]\n  camera_model: pinhole\n  distortion_coeffs: [-0.11566634307511932, 0.08987699968528752, -0.0005582794020918663,\n    -0.0018357664315637888]\n  distortion_model: radtan\n  intrinsics: [605.7455777299853, 607.9735414995575, 370.360573680134, 206.06348100221066]\n  resolution: [752, 480]\n  rostopic: \/cam2\/image_raw\n  timeshift_cam_imu: 0.00534915928352496\ncam1:\n  T_cam_imu:\n  - [-0.99928212777046, 0.035925730341547904, 0.012023768875391022, -0.13962875158190605]\n  - [-0.03597274136607859, -0.9993458604025864, -0.003716607972848024, -0.016508639410168793]\n  - [0.011882381796241693, -0.004146467851196176, 0.9999208047676615, -0.03160895767861787]\n  - [0.0, 0.0, 0.0, 1.0]\n  T_cn_cnm1:\n  - [0.9981637475442355, -0.06015420959348745, 0.007113659862062496, -0.2542425622302439]\n  - [0.06024646820793817, 0.9980914696176953, -0.01355659783506987, -0.010627124379391237]\n  - [-0.006284596798540949, 0.013960277381725226, 0.9998828003813787, 0.0008859958970116961]\n  - [0.0, 0.0, 0.0, 1.0]\n  cam_overlaps: [0]\n  camera_model: pinhole\n  distortion_coeffs: [-0.12488375896406986, 0.10256449638718221, 0.00036679194033630247,\n    0.00021222103272629827]\n  distortion_model: radtan\n  intrinsics: [604.6980984497027, 606.3456604476274, 365.754804193908, 235.0315549075409]\n  resolution: [752, 480]\n  rostopic: \/cam3\/image_raw\n  timeshift_cam_imu: 0.005291164630008379\n\n<\/code><\/pre>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2><span id=\"5_Evaluation\">5. Evaluation<\/span><\/h2>\n\n\n\n<p>In order to test each method&#8217;s performance we developed evaluation tools, available at (<a rel=\"alternate\" href=\"https:\/\/github.com\/dzunigan\/uma_vi_tools\">repo<\/a>). These tools test the the <strong>drift error<\/strong> and the <strong>alignment error<\/strong>, which are described in our paper, and have been developed in C++ (src\/evaluate.cpp) and in Python3 (python\/evaluate.py). <\/p>\n\n\n\n<h2><span id=\"6_Tools\">6. Tools<\/span><\/h2>\n\n\n\n<p>&nbsp;We also provide different tools in our (<a href=\"https:\/\/github.com\/dzunigan\/uma_vi_tools\" rel=\"alternate\">repo<\/a>):<\/p>\n\n\n\n<ul><li>a rosbag sequence creator, developed in Python (python\/rosbagCreator.py)<\/li><li>a TUM format to ASL format .csv sequence conversor, developed in C++ (src\/tum2asl.cpp)  <\/li><li>the aforedescribed IMU calibration toolbox (imu_calibration) <\/li><\/ul>\n\n\n\n<h2><span id=\"7_License\">7. License<\/span><\/h2>\n\n\n\n<p>All data in the UMA Visual Inertial Dataset is licensed under a <a rel=\"alternate\" href=\"https:\/\/creativecommons.org\/licenses\/by\/4.0\/\">Creative Commons 4.0 Attribution License (CC BY 4.0)<\/a><\/p>\n\n\n\n<h2><span id=\"Downloads-2\">Downloads <\/span><\/h2>\n\n\n\n<p><meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\"><a href=\"https:\/\/mapir.isa.uma.es\/mapirwebsite\/?p=2108&amp;page=2\">Here<\/a><\/p>\n\n\n\n<!--nextpage-->\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<p class=\"has-larger-font-size\"><strong>Links<\/strong> <strong>(update July 2023)<\/strong><\/p>\n\n\n\n<p>Dear researchers,<br>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 <a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">link<\/a> leads to a partial upload in Zenodo, where all the running sequences are upload, but some of the calibration ones.<br>If you have any trouble, please contact us.<\/p>\n\n\n\n<p class=\"has-text-align-center code\"><span style=\"font-size: 12pt;\">&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/span><\/p>\n\n\n\n<h2><span id=\"Datanbsp\">Data&nbsp;<\/span><\/h2>\n\n\n\n<p>To obtain the rosbag files we originally recorded or another kind of data or information, please contact us.<br>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.<\/p>\n\n\n\n<ul><li>  <a href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\" rel=\"noreferrer noopener\">Calibration Parameters <\/a><\/li><li>  <a href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\" rel=\"noreferrer noopener\">MD5 checksum for all files <\/a><\/li><\/ul>\n\n\n\n<pre class=\"wp-block-verse\">ATTENTION: Your browser may not directly download the files form the <strong>Here<\/strong> links. In that case, just copy the address or try another one.<\/pre>\n\n\n\n<h3><span id=\"Low-texture\">Low-texture<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <span style=\"color: var(--global-palette4); font-family: inherit; font-weight: 700; font-size: 12pt;\"><strong>Sequence name<\/strong><\/span><span style=\"color: var(--global-palette4); font-family: inherit; font-size: 22px; font-weight: 700;\"> <\/span><\/center><\/td><td><center> <span style=\"color: var(--global-palette4); font-family: inherit; font-weight: 700; font-size: 12pt;\"><strong>Info<\/strong><\/span><span style=\"color: var(--global-palette4); font-family: inherit; font-size: 22px; font-weight: 700;\"> <\/span><\/center><\/td><td><center> <span style=\"color: var(--global-palette4); font-family: inherit; font-weight: 700; font-size: 12pt;\"><strong>Download<\/strong><\/span><span style=\"color: var(--global-palette4); font-family: inherit; font-size: 22px; font-weight: 700;\"> <\/span><\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>class-csc1<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 105.12 s<\/center><center>Dim&nbsp;scene<\/center><\/td><td><center><a href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\" rel=\"noreferrer noopener\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1thf6U1d5rfXQJNfAbQXGrI4q23dEe0hD\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>class-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp;&nbsp;80.56 s<\/center><center>Dim&nbsp;scene<\/center><\/td><td><center><a rel=\"alternate\" href=\"http:\/\/ftp.uma.es\/Mapir\/UMA_VI\/sequences\/class-csc2_2019-02-01-17-00-23_LowText.zip\"><center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/101l0lXLXbeQN44HeDwt96pjXuNSlzBgK\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>corridor-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 144.08 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1vgamDlcHRhJsCu27vzB8YPNv_BDpHjgB\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>parking-csc1&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 72.32 s<\/center><center>Dim scene<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/11l5d0CphXkkV6NvGLO9A_64Iwdt2brQf\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;parking-csc2<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 73.20 s<\/center><center>Dim scene<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1RgxrXM89BH385JK0py1NSpwskNWk0cWT\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Indoor\"><strong>Indoor<\/strong><\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>class-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 71.12 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/17tQ4zaD9iZw7sYztr1zVo6E2VwOcPyAH\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>hall1-eng<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 96.64 s<\/center><center>Dim scene<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1jvyd-uBi1sOa-TmXf124eIS6XghQVc5E\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>hall1-rev-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 65.92 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/13yldLnRfgqkZz2tf66vqsmLkm1XYdk-1\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>hall23-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 255.36 s<\/center><center>Dim scene<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1IWhOBMrl1ObdRHsK7Pb2UVHbnOe73kKr\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>third-floor-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 141.44 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1EoTrYKCHsQ4YLYFOjL26fFg6gklJqbtC\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Outdoor\">Outdoor<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>gattaca-csc1&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 77.44 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1Uvzmfi9EtwA71JwHPSV6XjNnsLqCBFJ8\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;gattaca-csc2<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 237.36 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1bhzUW_bzOC7j0Q1V4QZN6D6tlrQqlJk7\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;long-corridor12-csc1<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 272.56 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1iEEYydIlH8IzFXzByc3FahCUtuuf-sig\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>long-corridor12-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 262.96 s<\/center><center>2 IMU messages left<strong>*<\/strong><\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1EMFTq_p7XPGb7G9R6z_-qodWUpPiaW5J\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;long-corridor23-csc2<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 289.20 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1i__q0uSzz8c-QUoIrYKeizUSnXUpbwnH\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>parking-eng2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 86.16 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1psYBpt_rcdsYqOaF6757Wtn74k1j0N4c\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Indoor-Outdoor_dynamic_illumination\"><meta http-equiv=\"content-type\" content=\"text\/html; charset=utf-8\">Indoor-Outdoor dynamic illumination<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>lab-module-csc&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 175.84 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/13xGbHWo0_yLw1tM9bdlZLdtoz0E1YcYH\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>lab-module-rev-csc&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 181.76 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1CNag7LEFQeOlYgGUZw9f_wP7V2S6DmRT\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;long-walk-eng<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 267.2 s<\/center><center>Soft blinking<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1qmgDN5oawyIAHaXGH_JNIAB64zEPMSOh\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>&nbsp;two-floors-csc1<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 132.40 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1eXXusGW_FQSU4CHC2CU9bL3FRpCL7BnC\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>two-floors-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 143.04 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1E7SAdPcaGzC13MQV2psmoplrSG2fK6xn\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Indoor_with_illumination_changes\">Indoor with illumination changes<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>conference-csc1 <\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 185.2 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1kuZoh8CWz_HG3cLw97Wo9e5jH7MwBi7h\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>conference-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 94.08&nbsp;s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1JbgcNnPAw0LLwFxx20kHuuiSbky-zscM\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>conference-csc3&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 72.24 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center><\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1ibydU6XjvnGp3L7lweDVEdLGorVzSTSw\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>third-floor-csc1&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 76.40 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1OOBq-Ryktkfz4vSVSBaYnzz6cFxBxuY2\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>third-floor-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 78.88 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1I8qg2ws3MJmHBuGn6e5-xyS44aPFASi-\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Sun_overexposure\">Sun overexposure<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>fantasy-csc1<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 147.92 s<\/center><center>Recorded on a car<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1LbPGofOnTPYOmY_KDs5jLMZriWpeGm4M\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>fantasy-csc2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 185.44 s<\/center><center>Recorded on a car<\/center><center>2 IMU messages left<strong>*<\/strong><\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1jaNiNqMHImVC-eihH1GPK6epn4A5hIFb\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>hall1-two-floors-eng&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 169.33 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1EfZxDmg1fiPgkCG6Yjq6Keuj10wBGMj9\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>long-corridor23-csc1&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 264.64 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1rvkwV8yz4zJU8RbWm5K9KWvexpZVWg5B\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>long-corridor23-rev-csc&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 258.48 s<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1BEOC_XkAh7N6GdwHLXupunGI8thzWH2n\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>parking-eng1&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 72.64 s<\/center><center>Flash due to sun reflect<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1x8T3uU4CfX1n2Q_h2eDvjrlBAYVzD2nA\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Challenging_sequences\">Challenging sequences<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center>\n<span style=\"font-size: 12pt;\"><strong>Sequence name<\/strong><\/span>\n<\/center><\/td><td><center>\n<span style=\"font-size: 12pt;\"><strong>Info<\/strong><\/span>\n<\/center><\/td><td><center>\n<span style=\"font-size: 12pt;\"><strong>Download<\/strong><\/span>\n<\/center><\/td><td><center>\n<span style=\"font-size: 12pt;\"><strong>Video (5x)<\/strong><\/span>\n<\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Elevator<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp;&nbsp;80.96 s<\/center><center><strong>Inside an elevator<\/strong><\/center><center>&nbsp;(IMU&nbsp;measures&nbsp;movement but image remains still)<\/center><\/td><td> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1Uk-rx7dreGkbh4E_dlRtvV6W0MjDDjzS\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2><span id=\"Calibration_Data\">Calibration Data<\/span><\/h2>\n\n\n\n<h3><span id=\"Intrinsic_calibration\">Intrinsic calibration<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong> Bumblebee\u00ae2 calibration intrinsics <\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-bumblebeeCLOSE&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 139.65 s<\/center><center>Not IMU measures<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1pXIZpRaSrmCuef5yO8Z813iD8GUkWI63\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-bumblebeeMEDIUM&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 358.41 s<\/center><center>Not IMU measures<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1n0r_-aaS6QFgelBeLOSJlh114mKSHcZA\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-bumblebeeCHANGE <\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 367.55 s<\/center><center>Not IMU measures<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1r_VEusAP1v4r04P1T2QOfoDYjGYBuEUz\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong>uEye calibration intrinsics<\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-ueyeMEDIUM <\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 341.80 s<\/center><center>Not IMU measures<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1nUhrszD_KFhIW3WpFIwlTmqthwX3l0aP\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-ueyeFAR&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 403.08 s<\/center><center>Not IMU measures<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/10cmMOsTnfgTcx8r87ZoHkhaNgMIhcUPv\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_cam-ueyeOUTDOOR <\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 179.08 s<\/center><center>7 IMU messages left<strong>*<\/strong><\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1ej2dIjUTu2LeT1QuP0yQYCWMXClHSyf9\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Photometric_calibration\">Photometric calibration<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong> uEye response calibration <\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>calib_response4&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 276.65 s<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1YTm_waatsojfMkUY53GVGoIMHk14sIxW\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>calib_response5&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 379.63 s<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1NJQNeUBW2rOmvv3KzzCGfLh-hc4l7GhO\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong>uEye vignette calibration<\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>calib_vignette2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 76.41 s<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1dzn6-T_LxOpbgI0W7XaiqQ1jcn1yPR_r\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>calib_vignette3&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 128.64 s<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/136P7uJOHsFjTHGcVzzJftiCg0Q4vIP3j\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"IMU_noise_calibration\">IMU noise calibration<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong><\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong><\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"> <strong style=\"font-size: revert; text-align: center; font-family: inherit; color: var(--global-palette4);\">UMAvi_imu_still<\/strong><\/td><td><p style=\"text-align: center;\"><strong>Time:<\/strong>&nbsp;&nbsp;&gt;141 h<\/p><br><p style=\"text-align: center;\"><strong style=\"font-family: inherit; font-size: revert; color: var(--global-palette4);\">IMU Frequency:<\/strong><span style=\"font-size: revert; font-family: inherit; font-weight: inherit; color: var(--global-palette4);\">&nbsp;250 Hz<\/span><\/p><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3><span id=\"Extrinsic_calibration\">Extrinsic calibration<\/span><\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong> Bumblebee\u00ae2 &#8211; Xsens Extrinsic calibration<\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong><\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong><\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong><\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_imu-bumblebeeENG2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 169.99 s<\/center><center> Not uEye measures <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\">On request<\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1-9kgD4xkF_S5wRmvW-1_fC1oTXJWZRqQ\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong><span style=\"font-size: 16pt;\">uEye &#8211; Xsens Extrinsic calibration<\/span><\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong> <\/center><\/td><td><center> <strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong> <\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_imu-ueyeENG2&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 187.83 s<\/center><center>    Not Bumblebee\u00ae2 measures   <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/168lWMSnhr6UhEdFDf5BkHLtK6tabaIah\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><span style=\"font-size: 16pt;\"><strong>Bumblebee\u00ae2 &#8211; uEye &#8211; Xsens Extrinsic calibration <\/strong><\/span><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Sequence name<\/strong><\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Info<\/strong><\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Download<\/strong><\/center><\/td><td><center><strong style=\"font-size: 12pt; color: var(--global-palette4); font-family: inherit;\">Video (5x)<\/strong><\/center><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_imu-camBRIDGE <\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 81.83 s<\/center><center> 3 messages left<strong>*<\/strong> <\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> <center><a rel=\"noreferrer noopener\" href=\"https:\/\/zenodo.org\/record\/7809282\" target=\"_blank\">Here<\/a><\/center> <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1Q4jvUxL4QO-cKmxyFLQfwsTr4E9LOPM5\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong> Calib_imu-camOUTDOOR&nbsp;<\/strong><\/td><td><center><strong>Time:<\/strong>&nbsp; 78.95 s<\/center><\/td><td class=\"has-text-align-center\" data-align=\"center\"> On request <\/td><td>\n<p><strong><iframe loading=\"lazy\" style=\"display: block; margin-left: auto; margin-right: auto;\" src=\"https:\/\/drive.google.com\/a\/uma.es\/file\/d\/1CU8psG8-TBOjUqVneYhvtTmjLMobhgBQ\/preview?usp=sharing\" width=\"400\" height=\"175\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/strong><\/p>\n<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>The UMA Visual Inertial Dataset is a collection of 32 sequences obtained in challenging conditions (changing light, low-terxtured scenes) with a handheld custom rig composed by a stereo camera, a stereo rig and a Inertial Measurement Unit.<\/p>\n","protected":false},"author":14,"featured_media":2109,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"normal","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"hide","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false},"categories":[6],"tags":[],"_links":{"self":[{"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/posts\/2108"}],"collection":[{"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/users\/14"}],"replies":[{"embeddable":true,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2108"}],"version-history":[{"count":18,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/posts\/2108\/revisions"}],"predecessor-version":[{"id":2888,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/posts\/2108\/revisions\/2888"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=\/wp\/v2\/media\/2109"}],"wp:attachment":[{"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2108"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2108"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mapir.isa.uma.es\/mapirwebsite\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2108"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}