AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping

The AirMuseum dataset is intended for multi-robot stereo-visual and inertial Simultaneous Localization And Mapping (SLAM). It consists in five indoor multi-robot scenarios acquired with ground and aerial robots in a former Air Museum at ONERA Meudon, France. Those scenarios were designed to exhibit some specific opportunities and challenges associated to collaborative SLAM. Each scenario includes synchronized sequences between multiple robots with stereo images and inertial measurements. They also exhibit explicit direct interactions between robots through the detection of mounted AprilTag markers. Ground-truth trajectories for each robot were computed using Structure-from-Motion algorithms and constrained with the detection of fixed AprilTag markers placed as beacons on the experimental area.