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Rolling-Shutter Visual-Inertial Odometry Dataset

Contact : David Schubert, Nikolaus Demmel, Lukas von Stumberg, Vladyslav Usenko.

We present a novel dataset that contains time-synchronized global-shutter and rolling-shutter images, IMU data and ground-truth poses for ten different sequences.


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Conference and Workshop Papers
2019
[]Rolling-Shutter Modelling for Visual-Inertial Odometry (D. Schubert, N. Demmel, L. von Stumberg, V. Usenko and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2019. ([arxiv]) [bibtex] [pdf]
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Dataset

Calibration

For the calibrated sequences that are provided in the table the ground-truth poses are provided in the IMU coordinate frame and time-synchronized with image and IMU data. Geometric camera-IMU calibration can be found here: calibration.yaml. Calibration was done using the following sequences.

SequenceBagEuroc/DSO
Camera calibration dataset-calib-cam1.bag dataset-calib-cam1.tar
IMU calibration dataset-calib-imu1.bag dataset-calib-imu1.tar

Note that for the calibration sequences, both cameras were operating in global-shutter mode. This means the timestamps for the rolling-shutter images refer to the first row. In general, timestamps denote the middle of the exposure interval.

For more information about calibration, we refer to our visual-inertial dataset.

According to the camera manufacturer, the time difference of two consecutive rows due to rolling shutter can't be read directly, but is very well approximated by the step size of the exposure time. Like this, we obtain an approximate row time difference of 29.4737 microseconds.

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