Dataset
We are pleased to release The PerceptIn Ironsides Dataset captured with our Ironsides device, a high-quality sensor and computing module designed for visual-inertial SLAM. The Ironsides is equipped with accurately synchronized and calibrated global-shutter stereo camera and IMU, and a multi-core processor. The dataset is captured in a robot arm platform as shown below.
This dataset is published in:
- Feng Zheng, Grace Tsai, Zhe Zhang, Shaoshan Liu, Chen-Chi Chu, Hongbing Hu, PI-VIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines, International Conference on Intelligent Robots (IROS 2018). [arxiv preprint]
| Dataset | ROS bag | Zipped | Comment | Preview |
|---|---|---|---|---|
| PI_3030 | Link | Link | Medium. Random motion. |  |
| PI_3058 | Link | Link | Difficult. Random motion. |  |
| PI_S1_X1 | Link | Link | Easy. Pure translation along X axis. |  |
| PI_S1_X2 | Link | Link | Easy. Pure rotation along X axis. |  |
| PI_S1_Y1 | Link | Link | Easy. Pure translation along Y axis. |  |
| PI_S1_Y2 | Link | Link | Easy. Pure rotation along Y axis. |  |
| PI_S1_Z1 | Link | Link | Easy. Pure translation along Z axis. |  |
| PI_S1_Z2 | Link | Link | Easy. Pure rotation along Z axis. |  |
| PI_S1_R1 | Link | Link | Medium. Random motion. |  |
- Calibration:
- Download link: https://s3-us-west-1.amazonaws.com/perceptin-ca/data/Ironsides_Dataset_Release/calibration.tar.gz
- Our calibration is defined with a tree structure using JSON file. IMU is the child of root. Left camera is the child of imu. And Right camera is the child of left camera. In each section, it includes id, model, calibration, transform etc.
- Groundtruth: