Marine surface
Visual-Inertial Canoe Dataset
Visual-inertial SLAM in river environments
A 44-minute canoe round trip releasing synchronized stereo imagery, inertial measurements, and GNSS/INS navigation data from a forested Illinois river.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine surface
- 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 | GNSS / INS | NovAtel SPAN · SPAN-IGM-A1 | 1 navigation system | 10 Hz | 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 stereo intrinsics, distortion, stereo extrinsics, rectification parameters, and the camera-to-IMU transformation. A separate calibration archive is downloadable, but its contents were not inspected for this reconciliation.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
GPS position is severely degraded for about five minutes, mostly in subset 6; the authors recommend excluding that subset from comparisons.
Lens flare affects portions of subsets 1, 2, and 5, especially briefly during the turnaround.
Exact automatic exposure duration is unavailable and may differ between the two cameras.
Cameras
Camera 1
- Model
- IDS UI-3250ML
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgb
- Resolution
- 800 x 600
- Rate
- 20 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Two physical cameras use Kowa LM3NC1M 3.5 mm f/2.4 lenses with an approximately 60 cm baseline. Raw Bayer and stereo-rectified RGB images are released; exposure is automatic and its exact duration is unavailable.
IMUs
SPAN integrated IMU
- Model
- Analog Devices ADIS16488
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
GNSS
NovAtel SPAN-IGM-A1
- Model or name
- NovAtel SPAN-IGM-A1
- Count
- 1
- Rate
- 10 Hz
- GNSS type
- GPS_IMU
- Position output
- Available
- Velocity output
- Available
- Heading output
- Available
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{Miller2018Canoe, author={Miller, Martin and Chung, Soon-Jo and Hutchinson, Seth}, title={The Visual--Inertial Canoe Dataset}, journal={The International Journal of Robotics Research}, volume={37}, number={1}, pages={13--20}, year={2018}, doi={10.1177/0278364917751842}}Dataset corrections
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