WHU-RSVI Dataset

The Wuhan University Rolling shutter Visual Inertial Dataset (WHU-RSVI) dataset aims at visual SLAM and visual-inertial SLAM algorithms who use a rolling shutter camera. The Dataset contains RS images, time-synchronized GS images, IMU measurements, and accurate ground truth. The dataset provides realistic images and IMU measurements by modeling the sensor noise in RGB and IMU data. It contains two trajectories, each of which contains three motion speeds: slow, medium and fast. Different speeds correspond to different rolling shutter effect, and this dataset can be used to compare the impact of different rolling shutter effect on specific methods.

Overview

trajectory_1 global shutter mode with fast speed.

 

trajectory_1 rolling shutter mode with fast speed.

 

trajectory_2 global shutter mode with fast speed.

 

trajectory_2 rolling shutter mode with fast speed.

We only displayed the fast speed sequences, while the medium and slow sequences are not displayed as videos, we provided the download links at the end of this page.

 

Dataset description.

The Structure of the dataset is organized as follows:

Folder/Filename Description
./trajectory-n The root folder of trajectory n.
-./speed/ Speed has three options: ’slow’, ’medium’ and ’fast’
– -./camera type/ Camera type can be ’gs’ or ’rs’ which represent the GS camera and the RS camera respectively.
– – -./noise type/ Noise type can be ’clean’ or ’noise’ which represents clean images and noisy images respectively.
– – – -./img/ Folder to store a sequence of images
– – – – -./frame_n.png Image of frame n, 8-bit RGB format.
– – – -./data.csv: EuRoC format compatible timestamps of images.
– – – -./sensor.yaml: EuRoC format compatible camera parameters.
– – – -./times.txt: TUM format compatible timestamps of images.
– -./imu/: Folder for storing IMU related information.
– – -./data-nHz.csv: EuRoC format compatible data for nHz IMU data.
– – -./sensor.yaml: EuRoC format compatible IMU extrinsic parameters include the noise density, etc.
– -./gt/: Ground truth Folder.
– – -./sensor.yaml: IMU extrinsic parameters ground truth.
– – -./groundtruth-nHz.csv: EuRoC format compatible ground truth at nHz rate.
– – -./groundtruth.txt: TUM format compatible ground truth at the image frame rate.
./readme.txt: More detailed descriptions about the files or folders listed above


Download Links

download the trajectory_1_fast example dataset (2.3GB).

download the trajectory_1 dataset (14.9GB).

download the trajectory_2 dataset (13.9GB).

download all the render scripts.

download the office model (for POV-Ray).

Contact

email: clk@whu.edu.cn

License

The data is released under Creative Commons 3.0 (CC BY 3.0), see http://creativecommons.org/licenses/by/3.0/.