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DOI

VIO-GNSS Dataset: Benchmarking Dataset for Sensor Fusion of Visual Inertial Odometry and GNSS Positioning

Eetu Pakkanen

This dataset is for benchmarking and improving different Sensor Fusion implementations/algorithms.

The upload contains two datasets (version 1.0.0):

  • urban_with_gnss_dead_zones (7.0 GB, ~16 minutes)
    • City streets
    • A building is passed through on two occasions which makes the GNSS location signal unavailable at times.
    • RTK Fix is acquired at times
  • suburban_nature (10.6 GB, ~19 minutes)
    • The route begins on a suburban street but quickly turns into a nature trail. Lots of vegetation
    • The RTK solution is only Float or None most of the route.