List of Datasets

UAV

Visual-Inertial-Dynamical Multirotor Dataset

Visual-inertial-dynamical state estimation

Twenty-two hardware-synchronized quadrotor flight and motor-test recordings with stereo-depth imagery, IMU, GPS/RTK, propulsion telemetry, pose references, and partial external-force reference data.

Metadata: Complete Metadata source documented Released 2021

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
5
Ground truth
Available
Calibration
Parameters Only
Annotations
Not available

Sensor overview

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

Cameras

2 reported

IMUs

1 reported

GNSS

2 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.
6DoF Motion capture VICON Vantage and Nexus Not reported 100 Hz Partial · Indoor Loadless, Indoor Loaded, Indoor Rope Pulled 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
Provides indoor rotation and translation reference.
6DoF RTK GNSS HITARGET Sky2 with Qianxun FindCM 1 receiver 5 Hz Partial · Outdoor, Night 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
Position accuracy
0.01 m
Orientation accuracy
0.4°
Accuracy notes
The paper describes both figures as precision up to these values.
Reference notes
Outdoor and night-flight position and orientation reference; the same RTK stream is also released as an independently usable GNSS input.
Other Other Robotiq FT300 six-axis force/moment sensor 1 force sensor 100 Hz Partial · Indoor Rope Pulled, Motor Test 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
External-force reference is released for rope-pulled flights, while motor-test force data characterize propulsion; external-moment ground truth during flight is absent.

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

Kalibr camera-IMU extrinsics, Allan-variance IMU calibration, per-sequence physical inertial parameters, propulsion characterization, and hardware parameters are described or supplied; raw calibration sequences are not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

External-force reference covers only the two indoor rope-pulled flights and four motor tests; external-moment ground truth during flight is absent.

Customized motors limit platform flexibility and payload capacity.

Dynamics parameters are incomplete, and thrust coefficients were measured only under static conditions.

Cameras

Camera 1

Model
Intel RealSense D435i
Setup
Stereo
Count
1
Effective cameras
2
Modality
Grayscale
Resolution
640 x 480
Rate
60 Hz
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Releases left and right rectified grayscale streams with a 50 mm baseline plus an aligned depth-image stream; the source does not establish released RGB imagery or shutter type.

IMUs

DJI N3 IMU

Model
Not reported
Count
1
Accel / gyro
400 / 400 Hz

GNSS

DJI N3

Model or name
DJI N3
Count
1
Rate
Not reported
GNSS type
STANDARD
Position output
Available
Velocity output
Not reported
Heading output
Not reported

HITARGET Sky2

Model or name
HITARGET Sky2
Count
1
Rate
5 Hz
GNSS type
RTK
Position output
Available
Velocity output
Not reported
Heading output
Available

LiDAR

Not reported

Additional sensors

Other sensor

Model
M3508 Hall sensors
Name
Rotor-speed measurements
Count
4
Rate
1000 Hz
Notes
Four measured rotor-speed channels; retained under sensors.other pending the canonical actuator-telemetry family.

Other sensor

Model
DJI C620 ESC
Name
Motor-current measurements
Count
4
Rate
1000 Hz
Notes
Four measured current channels; retained under sensors.other pending the canonical electrical-measurement family.

Other sensor

Name
Motor control commands
Count
4
Rate
100 Hz
Notes
Four target-RPM and target-current command channels, not four physical sensors; retained under sensors.other pending the canonical actuator-telemetry family.

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.

Citation key
Zhang2021VID

BibTeX

@article{Zhang2021VID, author={Zhang, Kunyi and Yang, Tiankai and Ding, Ziming and Yang, Sheng and Ma, Teng and Li, Mingyang and Xu, Chao and Gao, Fei}, title={The Visual-Inertial-Dynamical Multirotor Dataset}, journal={arXiv preprint arXiv:2103.11152}, year={2021}, doi={10.48550/arXiv.2103.11152}}

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