List of Datasets

Handheld

AUT-VI (Amirkabir campus dataset)

Visual-inertial odometry

Smartphone campus recordings for visual-inertial odometry under dynamic occlusion, lighting variation, reflection and camera shake.

Metadata: Complete Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Handheld
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

1 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
3D position Other Smartphone GPS Not reported 1 Hz Partial · Outdoor Sequences Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Accuracy notes
Paper reports GPS estimation error below 10 metres, without a statistical accuracy definition.
Reference notes
GPS XYZ reference is human inspected and compared with front-camera SLAM. A separate claim of all-sequence ground truth does not explain indoor coverage. No orientation reference is asserted.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Not reported

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Kalibr intrinsic/extrinsic calibration uses grid and chess patterns. Camera calibration trajectories and a stationary six-hour IMU recording are included; noise and bias parameters are reported on the wiki.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

dynamic_objects

low_light

camera_shake

reflections

Cameras

back-camera

Model
Sony IMX363 Exmor RS
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
720 x 1280
Rate
30 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Portrait RGB video encoded as MPEG-4; frame-associated ISO and exposure timestamps supplied. Front Samsung S5K3T1 camera is used exclusively for outdoor reference validation and is excluded here.

IMUs

Smartphone IMU

Model
BMI160
Count
1
Accel / gyro
200 / 200 Hz

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
Not reported

BibTeX

Not reported

Dataset corrections

Notice a specific issue after reviewing the page?

Report an inaccuracy