Uploaded March 2021 | Updated September 2026, 1 hour ago
Video for the IROS 2021 submission.
Preprint: to be added.
Code: github.com/ZJU-FAST-Lab/VID-Dataset.
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be perceived for robust planning robust control, which is beyond the capacity of these datasets. This paper introduces a Visual-Inertial-Dynamical(VID) dataset, not only focusing on traditional six degrees of freedom (6DOF) pose estimation but also providing dynamical characteristics of the flight platform for external force perception or dynamics-aided estimation. The VID dataset contains hard synchronized imagery and inertial measurements, with accurate ground truth trajectories for evaluating common visual-inertial estimators. Moreover, the proposed dataset highlights the measurements of rotor speed and motor current, dynamical inputs, and ground truth 6-axis force data to evaluate external force estimation. To the best of our knowledge, the proposed VID dataset is the first public dataset containing visual-inertial and complete dynamical information for pose and external force evaluation. The dataset and related open source files are available at github.com/ZJU-FAST-Lab/VID-Dataset.
Video for the IROS 2021 submission.
Preprint: to be added.
Code: github.com/ZJU-FAST-Lab/VID-Dataset.
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be perceived for robust planning robust control, which is beyond the capacity of these datasets. This paper introduces a Visual-Inertial-Dynamical(VID) dataset, not only focusing on traditional six degrees of freedom (6DOF) pose estimation but also providing dynamical characteristics of the flight platform for external force perception or dynamics-aided estimation. The VID dataset contains hard synchronized imagery and inertial measurements, with accurate ground truth trajectories for evaluating common visual-inertial estimators. Moreover, the proposed dataset highlights the measurements of rotor speed and motor current, dynamical inputs, and ground truth 6-axis force data to evaluate external force estimation. To the best of our knowledge, the proposed VID dataset is the first public dataset containing visual-inertial and complete dynamical information for pose and external force evaluation. The dataset and related open source files are available at github.com/ZJU-FAST-Lab/VID-Dataset.
![Swarm of Micro Flying Robots in the Wild [All]](https://i.ytimg.com/vi/L0fJ0EHHfOA/mqdefault.jpg "Swarm of Micro Flying Robots in the Wild [All]
Video for the paper published by Science Robotics.")
