Replication Data for: VIGS-Fusion:Real-time Inertial Gaussian Splatting SLAM onboard the UAV

VIGS-Fusion Dataset VIGS-Fusion Dataset This dataset contains 8 sequences taken onboard our UAV in ROS2 bag files. The sequences represent various types of movements, including linear, rotational, and combined motions, and are designed to be used for testing and developing visual inertial algorithms on UAV. Topics Included in Each Sequence /Darknav/pose: Provides the ground truth pose of the UAV. /camera/color/camera_info and /camera/depth/camera_info: Provide the camera parameters. /camera/color/image_raw/compressed: The color image compressed. /camera/depth/image_rect_raw: The depth image. /camera/imu: The RealSense IMU (not used). /filtered_imu_xsens: Provides the IMU measurements at 200 Hz. Transformation Between IMU and Camera The transformation between the IMU and the camera is given as follows: # camera_color_optical_frame xsens_imu_link # tx ty tz qx qy qz qw -0.021 -0.073 -0.046 -0.504 0.506 -0.505 0.484 Sequences in the Dataset The dataset consists of the following sequences, each stored in a separate ROS2 bag file: Line: A straight-line motion followed by a return to the starting position. Square-Shape: A square-shaped trajectory with only translations. Rotation-Only: Rotation around the yaw axis only. XYZ-Rotation: Combined translational (X, Y, Z) and rotational motion. XYZ-Rot-obstacle: Combined translational and rotational motion with many obstacles across the scene. XYZ-Rot-Fast: Combined translational and rotational motion at a high speed. Square-Shape-2: A square-shaped trajectory around a box in the center. Line-Rot: Straight line movement, the robot looks around, and then returns to the start.