Visual SLAM

This data set contains measurements from a camera and an inertial sensor, together with the ground truth of the motion (position and orientation). The fact that the ground truth is present means that this dataset is interesting for objective evaluation of SLAM algorithms capable of making use of measurements from a camera and an inertial sensor.

Data set

Click here to download the data set. All the necessary details describing the data set are provided in the README file.

Relevant paper

This data set was used in the following paper,

[1] Zoran Sjanic, Martin A. Skoglund, Thomas B. Schön and Fredrik Gustafsson, A Nonlinear Least-Squares Approach to the SLAM Problem. Proceedings of the 18th World Congress of the International Federation of Automatic Control (IFAC), Milan, Italy, August-September 2011. [pdf] [IFAC] [BibTeX]