RT Journal Article
T1 The UMA-VI dataset: Visual–inertial odometry in low-textured and dynamic illumination environments
A1 Zúñiga-Noël, David
A1 Jaenal, Alberto
A1 Gómez-Ojeda, Rubén
A1 González-Jiménez, Antonio Javier
K1 Visión
K1 Procesado de imágenes
AB This article 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®2), a custom stereo rig, and an inertial measurement unit. The 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 simultaneous localization and mapping (SLAM) methods. The dataset comprises 32 sequences and is provided with ground-truth poses at the beginning and the end of each of the sequences, thus allowing the accumulated drift to be measured in each case. We provide a trial evaluation of five existing state-of-the-art visual and visual–inertial methods on a subset of the dataset. 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. The dataset is available for download at http://mapir.uma.es/work/uma-visual-inertial-dataset
PB SAGE Journals
YR 2020
FD 2020-07-10
LK https://hdl.handle.net/10630/26164
UL https://hdl.handle.net/10630/26164
LA eng
NO zuniga2020umavi
NO Artículo de dataset. Disponible en http://mapir.uma.es/work/uma-visual-inertial-dataset
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026