List of Datasets

UAV

NTU VIRAL

Aerial visual-inertial, UWB ranging and LiDAR localization

Eighteen aerial recordings with stereo grayscale cameras, dual lidar, inertial/magnetic streams, UWB ranging and partial laser-tracked prism positions.

Metadata: Complete Metadata curator reviewed

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

Quick facts

Vehicle type
UAV
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
11
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

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

Cameras

2 reported

IMUs

3 reported

GNSS

Not reported

LiDAR

2 reported

Magnetometers

1 reported

Barometers

Not reported

UWB

3 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 MultiStation · MS60 Not reported 20 Hz Partial · Flight Prism Tracking Where Supplied; Intermittent Tracking Gaps, Especially in Original SBS Recordings. 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
No source-established dynamic XYZ error bound; prism flex about 2 cm and empirical timing residual within 0.1 s must be considered.
Reference notes
Tracks prism position only: PoseStamped orientation is not set. Body/prism lever arm must be compensated in evaluation. VICON is calibration equipment, not flight motion-capture truth.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
chessboard

Reproducible calibration data

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

Notes

Stereo calibration image pairs and a stereo/IMU Kalibr bag are listed publicly. Complete raw support for lidar, UWB and flexible extrinsics is not established; body-to-prism correction is required.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Prism is nearly 0.4 m from body origin and flexible mount introduces relative motion.

Reference gaps occur during SBS tracking loss.

UWB multipath, orientation and low signal strength cause missing/unreliable ranges.

Dark appearance from exposure settings challenges direct vision methods.

Timestamps include documented offsets; stereo hardware trigger does not synchronize every stream.

Official release notes identify Ouster point-cloud/IMU timing jitter and provide a regularization script.

Data are licensed CC BY-NC-SA 4.0 for noncommercial use.

Cameras

Camera 1

Model
uEye 1221 LE
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
752 x 480
Rate
10 Hz
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One forward stereo pair of two physical monochrome cameras. External trigger synchronizes exposures; ROS image publish timestamps typically differ below 3 ms.

IMUs

Main body-frame IMU

Model
VectorNav VN100
Count
1
Accel / gyro
385 / 385 Hz

Ouster integrated IMUs

Model
Not reported
Count
2
Accel / gyro
100 / 100 Hz

GNSS

Not reported

LiDAR

Ouster OS1-16 Gen1

Model or name
Ouster OS1-16 Gen1
Count
2
Dimensions
3
Rate
10 Hz
Channels
16
Range
Not reported

Additional sensors

Magnetometer

Model
VectorNav VN100
Count
1
Rate
385 Hz
Notes
Magnetic-field output from the same main VN100 unit, not an additional physical sensor package.

UWB

Model
Humatics P440
Name
Onboard ranging radios
Count
2
Placement
platform
Rate
68.571 Hz
Role
tag
Notes
Two mobile radios with four antennas/nodes and three fixed anchors. Rate is aggregate mobile-to-anchor messages, not per-radio/per-pair cadence. Inter-anchor measurements and anchor coordinates are 5.714 Hz.

UWB

Name
Environmental ranging anchors
Count
1
Placement
environment
Rate
5.714 Hz
Role
anchor
Notes
Three fixed anchor nodes participate in released inter-anchor/mobile ranging. Physical radio count/model not explicitly established; rate is aggregate inter-anchor topic, not per-node.

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
nguyen2022ntu

BibTeX

@article{nguyen2022ntu,
  title={NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint},
  author={Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
  journal={The International Journal of Robotics Research},
  volume={41}, number={3}, pages={270--280}, year={2022}
}

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