UAV
FGI Masala Stereo-Visual-Inertial Dataset 2021
High-altitude stereo visual-inertial odometry
Twelve synchronized stereo-IMU drone flights combining altitudes from 40 to 100 metres and speeds from 2 to 4 m/s, with calibration parameters and full-coverage photogrammetric camera poses.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 4
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Not available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Photogrammetry | Agisoft Metashape bundle adjustment with surveyed ground-control points | Not reported | Not reported | Full |
Reference provenance
Hybrid
Accuracy and notes
|
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Released YAML files provide left-camera, right-camera, and IMU parameters derived with Kalibr and imu_utils, including stereo and camera-IMU calibration; an Aprilgrid was used during calibration but raw calibration observations are not released.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Stereo image pairs have an average 200 microsecond temporal offset because synchronization is not exact.
Recording starts at an arbitrary point during takeoff and ends during landing, so duration varies by flight.
Lighting and wind vary; one recording group is overexposed and two are underexposed.
Cameras
Camera 1
- Model
- Basler acA2440-75uc
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 2448 x 2048
- Rate
- 16 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Two monochrome cameras with Fujinon HF6XA-5M lenses form a 30 cm stereo baseline.
IMUs
Xsens MTi-680G RTK GNSS/INS
- Model
- Xsens MTi-680G RTK GNSS/INS
- Count
- 1
- Accel / gyro
- 100 / 100 Hz
GNSS
Xsens MTi-680G RTK GNSS/INS
- Model or name
- Xsens MTi-680G RTK GNSS/INS
- Count
- 1
- Rate
- 4 Hz
- GNSS type
- UNKNOWN
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Not available
- 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.
@article{George2023HighAltitude, author={George, Anand and Koivumäki, Niko and Hakala, Teemu and Suomalainen, Juha and Honkavaara, Eija}, title={Visual-Inertial Odometry Using High Flying Altitude Drone Datasets}, journal={Drones}, volume={7}, number={1}, pages={36}, year={2023}, doi={10.3390/drones7010036}}Dataset corrections
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