WHU-RSVI-DEPTH是在WHU-RSVI卷帘惯性数据集上扩展出来的综合深度数据集，主要用于评价RGB-D视觉惯性SLAM相关的方法。
数据集中深度图像 为16 位灰度png 格式，深度因子为5000，即像素值5000 代表的距离为1m，16 位灰度图最大像素 值为65535，所代表的最大距离为13.107m．
相应的RGB数据、IMU数据以及ground truth数据介绍和下载地址为：http://aric.whu.edu.cn/rsvi-dataset.html
Download Links
download the trajectory_1_fast sequence.
download the trajectory_1_medium sequence.
download the trajectory_1_slow sequence.
download the trajectory_2_fast sequence.
download the trajectory_2_medium sequence.
download the trajectory_2_slow sequence.
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/.