List of Datasets

UAV

EuRoC

MAV VIO

Quadcopter visual-inertial odometry dataset recorded indoors.

Metadata: Complete Metadata source documented Released 2016

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

Supplementary

Not reported

Quick facts

Vehicle type
UAV
Environment
Indoor
Data origin
Real-world
Sensor count
3
Ground truth
Available
Calibration
Full Raw Calibration Data
Annotations
Not reported

Sensor overview

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

Cameras

2 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

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 Total station Leica Nova MS50 1 total station 20 Hz Partial · Machine Hall 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 and notes
Accuracy notes
Reported as millimeter-accurate under suitable tracking conditions.
Reference notes
Leica Nova MS50 position reference. Separate Leica point clouds describe structure and are not an onboard LiDAR stream.
6DoF Motion capture Vicon Not reported 100 Hz Partial · Vicon Room 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 and notes
Reference notes
Vicon pose reference for the Vicon-room sequences.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Full Raw Calibration Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
checkerboard, apriltag_grid

Reproducible calibration data

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

Notes

Camera intrinsics, camera-IMU extrinsics, aligned ground truth, and dedicated calibration sequences are provided.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Independent automatic exposure control can produce different brightness and shutter times between the stereo cameras, although mid-exposure synchronization is preserved.

Dynamic motion can reduce Leica laser-tracker accuracy, so the nominal manufacturer accuracy may be optimistic for aggressive segments.

Vicon and onboard sensor data were recorded on separate systems without Vicon device timestamps; temporal offset and clock drift were estimated offline.

Cameras

stereo-gray

Model
MT9V034
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
768 x 480
Rate
20 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported

IMUs

ADIS16448

Model
ADIS16448
Count
1
Accel / gyro
200 / 200 Hz

GNSS

Not reported

LiDAR

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
Burri2016

BibTeX

@article{Burri2016,
  title = {The {{EuRoC}} Micro Aerial Vehicle Datasets},
  author = {Burri, Michael and Nikolic, Janosch and Gohl, Pascal and Schneider, Thomas and Rehder, Joern and Omari, Sammy and Achtelik, Markus W and Siegwart, Roland},
  year = {2016},
  month = sep,
  journal = {The International Journal of Robotics Research},
  volume = {35},
  number = {10},
  pages = {1157--1163},
  issn = {0278-3649, 1741-3176},
  doi = {10.1177/0278364915620033},
  urldate = {2023-10-04},
  langid = {english},
  keywords = {Dataset,ground truth,MAV,visual-inertial}
}

Dataset corrections

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