KARI drone vertical takeoff and landing navigation dataset

Dataset for testing visual-inertial navigation under constant velocity, and obstacle detection with LiDAR.

Data was collected in the field by a custom-built hexacopter mounting the following sensors.Rostopics are given in parentheses:

Nadir-pointing RealSense d455 payload (visual-inertial odometry): 10 Hz RGB camera frames (/camera/color/image_raw), 200 Hz IMU data (/camera/imu)

RTK GNSS (groundtruth): position, velocity, attitude quaternions  (/mavros/global_position/local)

Nadir-pointing Livox Avia scanning LiDAR payload (safe landing site detection, only available during landing): pointcloud (/livox/lidar)

Nadir-pointing doppler radar altimeter: altitude (/sensor_data)

https://github.com/dirkpitt2050/open_vins contains an example config, kari_vtol, that shows how to use the dataset.

本数据集用于测试恒速场景下的视觉惯性导航（visual-inertial navigation）与激光雷达（LiDAR）障碍物检测任务。

数据集由定制六旋翼无人机在野外环境采集，该无人机搭载以下传感器，各ROS话题名称标注于括号内：
1. 天底指向的RealSense D455机载载荷（用于视觉惯性里程计（visual-inertial odometry））：包含10Hz帧率的RGB相机帧（话题：/camera/color/image_raw）与200Hz的惯性测量单元（IMU）数据（话题：/camera/imu）
2. RTK全球导航卫星系统（GNSS）（作为真值基准）：输出位置、速度与姿态四元数（话题：/mavros/global_position/local）
3. 天底指向的Livox Avia扫描式激光雷达机载载荷（用于安全着陆点检测，仅在着陆阶段可用）：输出点云数据（话题：/livox/lidar）
4. 天底指向的多普勒雷达高度计：输出高度数据（话题：/sensor_data）

项目仓库https://github.com/dirkpitt2050/open_vins 中包含了用于调用该数据集的示例配置`kari_vtol`，详细展示了数据集的使用方法。