YiZhaoJasper/Tartan_IMU_VBR

该数据集是VBR（罗马视觉基准）数据集的IMU和地面真实位姿子集，经过重新投影以符合TartanIMU数据加载器的模式。它包含车载（car）和手持（human）两种运动模式，共8个序列（4个车载+4个手持），总计约134万IMU样本，采样频率为200 Hz，总时长约1.87小时。数据用于惯性里程计、惯性跟踪、机器人等领域，作为TartanIMU预训练数据的补充，特别是车载运动和城市手持行走场景。数据集采用BSD 3-Clause许可证，并包含详细的目录结构、NPZ模式、质量保证和加载示例。This dataset is the IMU and ground-truth pose subset of the VBR (Visual Benchmark of Rome) dataset, which has been reprojected to align with the data schema of the TartanIMU data loader. It encompasses two motion modalities: in-car and hand-held, comprising a total of 8 sequences (4 in-car, 4 hand-held), with approximately 1.34 million IMU samples at a sampling rate of 200 Hz and an overall duration of roughly 1.87 hours. This dataset is intended for applications including inertial odometry, inertial tracking, and robotics, serving as a supplementary resource to the pre-training data of TartanIMU, with a particular focus on in-car motion scenarios and urban hand-held walking environments. The dataset is released under the BSD 3-Clause license, and includes detailed directory structures, NPZ schemas, quality assurance materials, and loading examples.