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InCrowd-VI

Visual-inertial SLAM for indoor pedestrian navigation

Head-worn RGB, stereo and inertial recordings across 58 indoor sequences, with offline SLAM reference trajectories and semi-dense static scene reconstructions.

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

Download

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Other
Environment
Indoor
Data origin
Real-world
Sensor count
5
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

3 reported

IMUs

2 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.
Not reported Visual SLAM Meta Aria machine perception SLAM service Not reported Not reported Full 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.
Derived
Accuracy notes
Service-level typical global translation RMSE is reported as no more than 1.5 cm for room-scale scenarios. Selected map-distance checks report mean 2.14 cm, standard deviation 1.46 cm and median 2.0 cm; these are not an independently measured trajectory error for all sequences.
Reference notes
Offline VIO/SLAM with server-side post-processing produces device trajectories and semi-dense static-scene reconstructions. Manual landmark-distance checks validate the reconstruction; they do not constitute a second external trajectory reference.

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

Factory intrinsics and fixed extrinsics are supplied. Camera calibration uses FisheyeRadTanThinPrism; IMU measurements use affine compensation. Evaluation extracts camera parameters and computes the left IMU-to-camera transform from supplied calibration.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

No depth information; indoor focus restricts outdoor and mixed-environment evaluation.

Reference trajectories are estimated offline; reported manual accuracy checks assess selected landmark distances in reconstructions.

Scenes include occlusion, reflections, texture-poor areas, lighting variation and motion transitions.

Cameras

stereo_scene

Model
Not reported
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
640 x 480
Rate
30 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Meta Aria mono scene camera pair; Table 2 reports hardware maxima, while Section 3.4 establishes the released resolution and frame rate.

rgb

Model
Not reported
Setup
Mono
Count
1
Effective cameras
1
Modality
Rgb
Resolution
1408 x 1408
Rate
30 Hz
Shutter
Rolling
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Released RGB images are 1408 by 1408 pixels; the 2880 by 2880 value in Table 2 is a hardware maximum.

IMUs

Meta Aria glasses IMUs

Model
Not reported
Count
2
Accel / gyro
Not reported

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 available

Citation

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

Citation key
bamdad2024incrowdvi

BibTeX

@misc{bamdad2024incrowdvi,
  title={InCrowd-VI: A Realistic Visual-Inertial Dataset for Evaluating SLAM in Indoor Pedestrian-Rich Spaces for Human Navigation},
  author={Bamdad, Marziyeh and Hutter, Hans-Peter and Darvishy, Alireza},
  year={2024},
  eprint={2411.14358},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2411.14358v2}
}

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