AAU synthetic ROS dataset for VIO
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下载链接：
https://zenodo.org/record/3870850
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资源简介：
Synthetic ROS data set for Visual-Inertial Odometry, providing IMU measurements (linear acceleration and angular velocities) as well as camera images with different resolutions (320x240, 640x480, and 1280x960) at rates of 500 Hz and 100 Hz, respectively. The camera images are obtained from a texture-rich outdoor scene created Unity. Two circles with a diameter of 10 m are performed within 72 seconds. Besides the noisy measurements, ground-truth poses are included in the ROS bag file. The intrinsic and extrinsic camera calibrations as well as the IMU noise characteristics are provided.
Contained ROS topics:
/mus/ground_truth_pose_imu : geometry_msgs/PoseStamped
/mus/image : sensor_msgs/Image
/mus/imu : sensor_msgs/Imu
/tf : tf/tfMessage
创建时间：
2020-06-04
