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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
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Rolling-Shutter Modelling for Visual-Inertial Odometry , In International Conference on Intelligent Robots and Systems (IROS), 2019. ([arxiv])
Dataset
The full dataset can be found at: https://cdn3.vision.in.tum.de/rolling/
| Sequence | Bag | Euroc/DSO | Length [m] |
| Sequence 1 | dataset-seq1.bag | dataset-seq1.tar | 46 |
| Sequence 2 | dataset-seq2.bag | dataset-seq2.tar | 37 |
| Sequence 3 | dataset-seq3.bag | dataset-seq3.tar | 44 |
| Sequence 4 | dataset-seq4.bag | dataset-seq4.tar | 30 |
| Sequence 5 | dataset-seq5.bag | dataset-seq5.tar | 57 |
| Sequence 6 | dataset-seq6.bag | dataset-seq6.tar | 51 |
| Sequence 7 | dataset-seq7.bag | dataset-seq7.tar | 45 |
| Sequence 8 | dataset-seq8.bag | dataset-seq8.tar | 46 |
| Sequence 9 | dataset-seq9.bag | dataset-seq9.tar | 46 |
| Sequence 10 | dataset-seq10.bag | dataset-seq10.tar | 41 |
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.
| Sequence | Bag | Euroc/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.
According to the manufacturer, the time difference of two consecutive rows due to rolling shutter is approximately 29.4737 microseconds.
