This dataset contains complex indoor-outdoor converted GNSS-visual-inertial datasets collected in underground garages and buildings.
As depicted in Fig. \ref{equip}, our multi-sensor data acquisition device is versatile and can be utilized for both vehicle-mounted and handheld applications. The device integrates a variety of sensors, including a stereo camera and IMU from Realsense D455, two U-blox ZED-F9P modules from VRTK2 for RTK positioning information, and a smartphone for pressure sensor (barometer) measurements. All sensor data are synchronized using timestamps. We have collected five datasets in a variety of complex indoor-outdoor scenarios, encompassing outdoor environments, underground locations, and building interiors.
| name | duration | size |
|---|---|---|
| GVI_SYSU_UG1.bag | 413s | 9.47GB |
| GVI_SYSU_UG2.bag | 407s | 9.32GB |
| GVI_SYSU_CPNT.bag | 830s | 19.00GB |
| GVI_SYSU_Building_LC.bag | 606s | 13.87GB |
| GVI_SYSU_Building_L.bag | 511s | 11.71GB |
| GVI_SYSU_Building_C.bag | 591s | 13.54GB |
| topic | type | frequency | description |
|---|---|---|---|
| /camera/imu | sensor_msgs/Imu | 200Hz | IMU measurments from D455 |
| /camera/infra1/image_rect_raw | sensor_msgs/Image | 30Hz | left camera |
| /camera/infra2/image_rect_raw | sensor_msgs/Image | 30Hz | right camera |
| /fixposition/corrimu | sensor_msgs/Imu | 200Hz | IMU measurments from VRTK2 |
| /fixposition/gnss1 | sensor_msgs/NavSatFix | 5Hz | GNSS1 RTK position from VRTK2 |
| /fixposition/gnss2 | sensor_msgs/NavSatFix | 5Hz | GNSS2 RTK position from VRTK2 |
@ARTICLE{10384447,
author={Song, Jiangbo and Li, Wanqing and Duan, Chufeng and Wang, Lei and Fan, Yiheng and Zhu, Xiangwei},
journal={IEEE Transactions on Circuits and Systems II: Express Briefs},
title={An Optimization-Based Indoor-Outdoor Seamless Positioning Method Integrating GNSS RTK, PS, and VIO},
year={2024},
volume={},
number={},
pages={1-1},
doi={10.1109/TCSII.2024.3351172}}
[1] J. Song, W. Li, C. Duan, L. Wang, Y. Fan and X. Zhu, "An Optimization-Based Indoor-Outdoor Seamless Positioning Method Integrating GNSS RTK, PS, and VIO," in IEEE Transactions on Circuits and Systems II: Express Briefs, doi: 10.1109/TCSII.2024.3351172.
Data set download link：https://pan.baidu.com/s/16r17_SFyLk3FEW6osD0UhA Password：cpnt