EuRoC MAV is a visual-inertial data set collected on board a Micro Air Vehicle (MAV). The dataset contains stereo images, simultaneous IMU measurements, and precise motion and structural ground truth. These datasets facilitate the design and evaluation of visual-inertial localization algorithms on real flight data.
1. Visual-inertial data set collected on a Micro Air Vehicle (MAV):
kmavvisualinertialdatasets – ASL Datasets (ethz.ch)
Binocular camera (Aptina MT9V034 global shutter, WVGA monochrome, 2×20 FPS)
MEMS IMU (ADIS16448, angular rate and acceleration, 200 Hz)
Hardware (hw) synchronization with camera and IMU
The output format of groundtruth is: timestamp (18 bits) + position + quaternion (qw, qx, qy, qz) + velocity + angular velocity + acceleration. Note that qw comes first.
Of course, the binocular data set can also be used for monocular testing.