List of Datasets

UAV, UGV, Handheld

OdomBeyondVision

Multimodal indoor odometry

Indoor UAV, UGV and handheld odometry recordings combining thermal imaging, mmWave radar, RGB/depth, LiDAR and inertial measurements, with platform-specific reference trajectories.

Metadata: Complete Metadata needs review Released 2022

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

Download

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
UAV, UGV, Handheld
Environment
Indoor
Data origin
Real-world
Sensor count
13
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

5 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

2 reported

Radar

5 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 Other Not reported Not reported Not reported Partial · UGV 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.
Derived
Reference notes
Wheel-odometry pseudo ground truth; accuracy and precise reference pose scope are not established. No wheel-encoder stream is inferred.
Not reported LiDAR SLAM Not reported Not reported Not reported Partial · Handheld 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.
Derived
Reference notes
ALOAM LiDAR-odometry pseudo ground truth, estimated from a modality also present in the sensor inventory; not a metrologically certified external reference.
6DoF Motion capture Vicon Not reported 100 Hz Partial · UAV Sequences in Vicon Room 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 states millimetre-level accuracy without a precise numeric bound.
Reference notes
UAV trajectories are confined to the Vicon lab. Reference apparatus is not counted as a released input sensor.

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

Sensor extrinsics and camera intrinsics are supplied, with coordinate-frame records. Most extrinsics use the D435 RGB frame. Thermal/RGB uses a hot laptop and acrylic mask; LiDAR/RGB a chessboard corner; radar/LiDAR a metallic corner reflector; IMU/RGB Kalibr with AprilTag. Raw calibration sequence availability is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

UAV coverage is limited to the Vicon room, while other platforms span multiple buildings.

UGV and handheld references are pseudo ground truth from odometry rather than independent external tracking.

Recordings include darkness, glare, high dynamic range, textureless walls and moving humans.

Cameras

d435i

Model
Intel RealSense D435i
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
640 x 480
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One RGBD system per handheld or UGV rig. Handheld RGB is 20 Hz; UGV RGB is 30 Hz; depth is 30 Hz on both. RGB is 8-bit and depth is 16-bit, both 640x480. No separate released stereo image streams or integrated IMU are inferred from the device name.

boson640

Model
FLIR Boson 640
Setup
Mono
Count
1
Effective cameras
1
Modality
Thermal
Resolution
640 x 512
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
One thermal camera per rig. Handheld and UGV provide 30 Hz 16-bit images; UAV provides 8.7 Hz 8-bit images.

l515

Model
Intel RealSense L515
Setup
Rgbd
Count
1
Effective cameras
2
Modality
Rgbd
Resolution
960 x 540
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
UAV only. The paper calls this device a solid-state LiDAR and reports 15 Hz 8-bit 960x540 RGB plus 30 Hz 16-bit 640x480 depth images. Resolution above describes RGB; this physical system is represented once.

IMUs

Xsens MTi

Model
Xsens MTi
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Velodyne VLP-16

Model or name
Velodyne VLP-16
Count
1
Dimensions
Not reported
Rate
10 Hz
Channels
16
Range
Not reported

Velodyne HDL-32E

Model or name
Velodyne HDL-32E
Count
1
Dimensions
Not reported
Rate
10 Hz
Channels
32
Range
Not reported

Radar

TI AWR1843BOOST

Count
1
Released data
Point detections / point clouds
Frame rate
20 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Handheld configuration only.

TI AWR1843BOOST

Count
3
Released data
Point detections / point clouds
Frame rate
20 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Three units at 90-degree relative angles on UGV; mounting angle is not a per-radar field of view.

TI AWR1843BOOST

Count
1
Released data
Point detections / point clouds
Frame rate
10 Hz
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
UAV configuration only.

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
li2022odombeyondvision

BibTeX

Not reported

Dataset corrections

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