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.