Visual-inertial data collected using a stereo camera and IMU sensor suite for analysing the performance of VIO/VISLAM algorithms at high altitude. This dataset is collected using a drone flying at various altitudes and speeds. The dataset contains synchronised stereo images and IMU data, along with sensor parameters and the ground truth pose of the drone during data collection. Bag files and ground truth information files are named based on the flying altitude (in m) and speed (in m/s) as <flying_altitude>_<flying_speed> . <extension>. Ground truth data are formatted as "time_stamp, x, y, z, qx, qy, qz, qw". Time stamp is in unix time format. Position values - x, y, and z are in meters, and the rotation values are in quaternion format. When using this dataset in your research, please refer to the publication: "George, A.; Koivumäki, N.; Hakala, T.; Suomalainen, J.; Honkavaara, E. Visual-Inertial Odometry Using High Flying Altitude Drone Datasets. Drones 2023, 7, 36. https://doi.org/10.3390/drones7010036"

2022