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# timestamp(s) tx ty tz qx qy qz qw |
1520531829.243709564 0.673220298 -0.218952854 1.267366726 -0.004442010 -0.010629003 -0.026544245 0.999581260 |
1520531829.252042532 0.673034333 -0.218908169 1.267782934 -0.004413145 -0.011906168 -0.026933810 0.999556570 |
1520531829.260376453 0.672827343 -0.219012797 1.268216966 -0.005233463 -0.013194475 -0.027327536 0.999525749 |
1520531829.268709421 0.672562645 -0.219051242 1.268613052 -0.005118807 -0.014455177 -0.028010355 0.999490003 |
1520531829.277043581 0.672282711 -0.219115533 1.269072938 -0.005680666 -0.015347404 -0.028646312 0.999455640 |
1520531829.285376549 0.671858040 -0.219211610 1.269476267 -0.005368951 -0.016169464 -0.029944051 0.999406362 |
1520531829.293709517 0.671572620 -0.219398320 1.269975782 -0.005669848 -0.017046839 -0.031017566 0.999357378 |
1520531829.302043438 0.671128818 -0.219630063 1.270449961 -0.005901758 -0.017815860 -0.032488747 0.999295875 |
1520531829.310376406 0.670620132 -0.219926028 1.270914012 -0.006358236 -0.018183094 -0.033913796 0.999239112 |
1520531829.318709612 0.670148305 -0.220250045 1.271349252 -0.006703528 -0.018939609 -0.035404700 0.999171087 |
1520531829.327042580 0.669748424 -0.220553210 1.271803713 -0.007067153 -0.019704295 -0.036702086 0.999106978 |
1520531829.335376501 0.669298948 -0.220859612 1.272192413 -0.007376433 -0.020220226 -0.037973001 0.999046937 |
1520531829.343709469 0.669043411 -0.221199438 1.272646453 -0.007635683 -0.020930777 -0.039064171 0.998988283 |
1520531829.352043629 0.668843050 -0.221421798 1.273059893 -0.007849849 -0.021753204 -0.039718898 0.998943235 |
1520531829.360376596 0.668603403 -0.221639531 1.273424323 -0.007908618 -0.022267535 -0.040306739 0.998907892 |
1520531829.368709564 0.668298404 -0.221790795 1.273659825 -0.007548524 -0.022970696 -0.041234440 0.998856891 |
1520531829.377042532 0.668230782 -0.221903627 1.274020310 -0.007208828 -0.023782952 -0.041464280 0.998830875 |
1520531829.385376453 0.668097687 -0.222057731 1.274336140 -0.006854603 -0.024241080 -0.041537208 0.998819325 |
1520531829.393709421 0.667976613 -0.222202318 1.274653758 -0.006584670 -0.024919219 -0.041503233 0.998805865 |
1520531829.402043581 0.667864363 -0.222297000 1.274918339 -0.005985294 -0.025640067 -0.041477428 0.998792464 |
1520531829.410376549 0.667714121 -0.222413908 1.275252726 -0.005621121 -0.026462806 -0.041432830 0.998774971 |
1520531829.418709517 0.667592515 -0.222640399 1.275717371 -0.005804718 -0.026921063 -0.040910473 0.998783207 |
1520531829.427043438 0.667464359 -0.222632687 1.276039775 -0.004789790 -0.027752567 -0.040731939 0.998773128 |
1520531829.435376406 0.667296868 -0.222758874 1.276379741 -0.003713755 -0.028253400 -0.040623280 0.998768092 |
1520531829.443709612 0.667156282 -0.222944619 1.276781207 -0.003956967 -0.029171766 -0.040097531 0.998762003 |
1520531829.452042580 0.667011413 -0.223011136 1.277164937 -0.003394653 -0.030190197 -0.039838969 0.998744154 |
1520531829.460376501 0.666869379 -0.223084816 1.277516568 -0.002627503 -0.030910000 -0.039564136 0.998735374 |
1520531829.468709469 0.666724727 -0.223153648 1.277782388 -0.001701726 -0.031530409 -0.039363992 0.998725895 |
1520531829.477043629 0.666631717 -0.223268252 1.278072130 -0.000891901 -0.032028400 -0.039318667 0.998712886 |
1520531829.485376596 0.666571690 -0.223344011 1.278365210 0.000100741 -0.032587025 -0.039044829 0.998705951 |
1520531829.493709564 0.666514009 -0.223444396 1.278575927 0.000918338 -0.033100001 -0.038857590 0.998695967 |
1520531829.502042532 0.666518224 -0.223538910 1.278722905 0.001943300 -0.033381028 -0.038505681 0.998698775 |
1520531829.510376453 0.666446833 -0.223550969 1.278761421 0.003338307 -0.033647859 -0.038629332 0.998681357 |
1520531829.518709421 0.666546227 -0.223719348 1.278915504 0.003850072 -0.033499412 -0.037735435 0.998718681 |
1520531829.527043581 0.666391664 -0.223470887 1.278725089 0.005623946 -0.033130728 -0.037198377 0.998742713 |
1520531829.535376549 0.666593598 -0.223534482 1.278833359 0.006126680 -0.033436051 -0.036369684 0.998760102 |
1520531829.543709517 0.666756390 -0.223621796 1.278920467 0.006589169 -0.033588804 -0.035676019 0.998777051 |
1520531829.552043438 0.666928060 -0.223710110 1.278987222 0.007102016 -0.033688716 -0.034917019 0.998796993 |
1520531829.560376406 0.667141697 -0.223802996 1.279173950 0.007400125 -0.034222306 -0.034925920 0.998776377 |
1520531829.568709612 0.667284303 -0.223838548 1.279244480 0.007437291 -0.034571582 -0.034552385 0.998777065 |
1520531829.577042580 0.667478652 -0.223909258 1.279410729 0.007181473 -0.034714693 -0.034051897 0.998791162 |
1520531829.585376501 0.667647908 -0.223935784 1.279550047 0.006790409 -0.034904635 -0.033699716 0.998799222 |
1520531829.593709469 0.667845706 -0.223967716 1.279733327 0.006462371 -0.035030330 -0.033338693 0.998809114 |
1520531829.602043629 0.668260919 -0.224301513 1.280224462 0.004426806 -0.036219374 -0.033267376 0.998780177 |
1520531829.610376596 0.668432582 -0.224290063 1.280384500 0.004128097 -0.036337900 -0.033027827 0.998785101 |
1520531829.618709564 0.668579533 -0.224286756 1.280656420 0.003431179 -0.036554903 -0.033000821 0.998780713 |
1520531829.627042532 0.668763025 -0.224448693 1.280969440 0.002170252 -0.036726592 -0.032891693 0.998781550 |
1520531829.635376453 0.668923973 -0.224523798 1.281315494 0.001098036 -0.036834293 -0.032844071 0.998780905 |
1520531829.643709421 0.668992867 -0.224603420 1.281610399 0.000491993 -0.036590163 -0.033102431 0.998781832 |
1520531829.652043581 0.669141325 -0.224731161 1.281914629 -0.000833081 -0.036619024 -0.033271913 0.998774916 |
1520531829.660376549 0.669309674 -0.224779314 1.282197691 -0.001682148 -0.036385203 -0.033456238 0.998776235 |
1520531829.668709517 0.669502027 -0.224965608 1.282463824 -0.003303063 -0.036415445 -0.033545703 0.998768087 |
1520531829.677043438 0.669689741 -0.225000446 1.282679780 -0.003833655 -0.036150036 -0.033788770 0.998767639 |
1520531829.685376406 0.669937369 -0.225122570 1.282945306 -0.004685221 -0.036016838 -0.034029147 0.998760659 |
1520531829.693709612 0.670209887 -0.225329570 1.283223541 -0.005970629 -0.036225713 -0.034133261 0.998742694 |
1520531829.702042580 0.670633477 -0.225360628 1.283518204 -0.006386460 -0.036615748 -0.034721436 0.998705623 |
1520531829.710376501 0.670814866 -0.225542607 1.283753632 -0.007268275 -0.036235703 -0.034512179 0.998720709 |
1520531829.718709469 0.671037626 -0.225678653 1.283944037 -0.008095868 -0.036554328 -0.034988422 0.998686161 |
1520531829.727043629 0.671277657 -0.225837898 1.284121260 -0.008452571 -0.036594570 -0.035155304 0.998675871 |
1520531829.735376596 0.671439412 -0.226068289 1.284308127 -0.008983810 -0.036120632 -0.034490576 0.998711666 |
1520531829.743709564 0.671663123 -0.226211537 1.284412126 -0.009000780 -0.036010997 -0.034496584 0.998715265 |
1520531829.752042532 0.671951490 -0.226353527 1.284485163 -0.008540700 -0.035861272 -0.034421645 0.998727278 |
1520531829.760376453 0.672246763 -0.226474347 1.284536767 -0.007891320 -0.036017168 -0.034285642 0.998731688 |
1520531829.768709421 0.672498609 -0.226553985 1.284562917 -0.007429073 -0.036100998 -0.034185802 0.998735630 |
1520531829.777043581 0.672716519 -0.226682960 1.284575022 -0.006718598 -0.035821151 -0.033839487 0.998762532 |
1520531829.785376549 0.673055741 -0.226760106 1.284559887 -0.005661536 -0.036211190 -0.033893308 0.998753193 |
1520531829.793709517 0.673432934 -0.226730500 1.284517684 -0.004138813 -0.035997907 -0.033732283 0.998773825 |
1520531829.802043438 0.673828129 -0.226854248 1.284466437 -0.002792322 -0.035954292 -0.033547453 0.998786294 |
1520531829.810376406 0.674064412 -0.226982493 1.284397460 -0.001785862 -0.036152968 -0.033622994 0.998778888 |
1520531829.818709612 0.674474432 -0.227151455 1.284329875 -0.001079660 -0.035887767 -0.032935379 0.998812376 |
1520531829.827042580 0.674813322 -0.227294736 1.284232777 0.000056041 -0.035550541 -0.032715357 0.998832249 |
1520531829.835376501 0.675177305 -0.227429615 1.284141577 0.001294592 -0.035233482 -0.032438194 0.998851685 |
1520531829.843709469 0.675257886 -0.227285003 1.283740504 0.003144568 -0.034349015 -0.031954202 0.998893981 |
1520531829.852043629 0.675550922 -0.227448544 1.283607706 0.004098019 -0.033710535 -0.031609593 0.998923240 |
1520531829.860376596 0.676163328 -0.227923320 1.283920272 0.003363463 -0.034916920 -0.031457971 0.998889329 |
1520531829.868709564 0.676488876 -0.227922784 1.283871621 0.004571255 -0.034864102 -0.031195152 0.998894619 |
1520531829.877042532 0.677005477 -0.228139619 1.283882587 0.004908130 -0.035000911 -0.030467420 0.998910698 |
1520531829.885376453 0.677298400 -0.228295986 1.283881493 0.005381048 -0.035344015 -0.030577276 0.998892825 |
1520531829.893709421 0.677718257 -0.228464322 1.283894219 0.005822856 -0.035323301 -0.030410048 0.998896185 |
1520531829.902043581 0.678058414 -0.228574963 1.283906024 0.006208663 -0.035280179 -0.030382251 0.998896231 |
1520531829.910376549 0.678220406 -0.228357107 1.283491164 0.007713683 -0.034253842 -0.030063714 0.998931102 |
1520531829.918709517 0.678901175 -0.228853687 1.283983033 0.006052392 -0.035171932 -0.030071485 0.998910411 |
1520531829.927043438 0.679164185 -0.229084436 1.284023389 0.005507704 -0.034844909 -0.029962588 0.998928296 |
1520531829.935376406 0.679500254 -0.229311827 1.284132986 0.005431018 -0.034770298 -0.030457667 0.998916343 |
1520531829.943709612 0.679868297 -0.229496413 1.284294167 0.004799056 -0.034493797 -0.030607096 0.998924598 |
1520531829.952042580 0.680181019 -0.229727307 1.284421728 0.004763447 -0.034465811 -0.031562784 0.998895995 |
1520531829.960376501 0.680450435 -0.229834582 1.284480005 0.004532845 -0.033792783 -0.031778723 0.998913216 |
1520531829.968709469 0.680793449 -0.230022831 1.284635303 0.003875963 -0.033384538 -0.032046702 0.998921147 |
1520531829.977043629 0.681157909 -0.230258910 1.284804513 0.002986987 -0.032815724 -0.032211400 0.998937752 |
1520531829.985376596 0.681548617 -0.230323182 1.284950721 0.002678562 -0.032173815 -0.032285212 0.998957124 |
1520531829.993709564 0.681985016 -0.230512235 1.285103389 0.001452586 -0.031751924 -0.031901514 0.998985485 |
1520531830.002042532 0.682402132 -0.230513770 1.285201976 0.001029755 -0.031112796 -0.031471981 0.999019744 |
1520531830.010376453 0.682870599 -0.230596516 1.285387165 -0.000180989 -0.030792266 -0.030710864 0.999053876 |
1520531830.018709421 0.683239217 -0.230522310 1.285519768 -0.001135394 -0.029985508 -0.029744931 0.999107011 |
1520531830.027043581 0.683798059 -0.230474633 1.285708278 -0.002000045 -0.030042603 -0.028929410 0.999127885 |
1520531830.035376549 0.684344236 -0.230617820 1.285980386 -0.003480324 -0.030082618 -0.027847431 0.999153364 |
1520531830.043709517 0.684741028 -0.230580401 1.286147777 -0.004435986 -0.030027140 -0.027380334 0.999164156 |
1520531830.052043438 0.685052841 -0.230466752 1.286341061 -0.005095990 -0.029401889 -0.027320705 0.999181234 |
1520531830.060376406 0.685411653 -0.230424002 1.286521190 -0.005581887 -0.028945079 -0.027242717 0.999194105 |
End of preview. Expand in Data Studio
TUM VI (mirror)
Mirror of TUM VI, repackaged for MINS evaluation. All credit belongs to the original authors; please cite them (below) if you use this data.
License: CC BY 4.0 (data), BSD-2-Clause (code). Attribution required.
Each sequence is <seq>.bag (ROS1, unchanged from the original) plus <seq>.txt, the ground truth
rewritten as timestamp(s) tx ty tz qx qy qz qw. These are the calibrated 512x512 bags (images are 16-bit). Ground truth is the 120 Hz motion capture on /vrpn_client/raw_transform, already in the IMU frame. It covers the whole trajectory only for room*; corridor, magistrale, outdoors and slides have it only at the start and end.
Sequences
room1room2room3room4room5room6corridor1corridor2corridor3corridor4corridor5magistrale1magistrale2magistrale3magistrale4magistrale5magistrale6outdoors1outdoors2outdoors3outdoors4outdoors5outdoors6outdoors7outdoors8slides1slides2slides3
Topics
- imu:
/imu0 (200 Hz) - cameras:
/cam0/image_raw, /cam1/image_raw (20 Hz, 16-bit) - ground truth:
/vrpn_client/raw_transform (120 Hz)
Citation
@inproceedings{schubert2018vidataset,
author = {Schubert, David and Goll, Thore and Demmel, Nikolaus and Usenko, Vladyslav and St{\"u}ckler, J{\"o}rg and Cremers, Daniel},
title = {The TUM VI Benchmark for Evaluating Visual-Inertial Odometry},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2018}
}
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