We collected data from six representative scenes on the SYSU campus. The "\textit{Dormitory Building}" and "\textit{Engineering Building}" scenes, which have urban canyon characteristics, are affected by surrounding high-rise buildings or mountainous trees throughout. In the "\textit{Gymnasium Building}" and "\textit{Medical Building}" scenes, the data collection device goes from the open outdoors indoors and then back outdoors again. The "\textit{SYSU Campus}" and "\textit{Athletic Field}" scenes were collected in large-scale and repeated environments, respectively. The total duration of the SYSU-Campus-GVI datasets is about 3611
The data collection system is equipped with a RealSense D455 camera, which is used to collect visual data (including monocular and binocular, 30Hz) and IMU data (200Hz). In addition, the VI data synchronizes the GNSS measurements (5Hz) provided by VRTK2. The GNSS results are provided by the GNSS device equipped with two u-blox ZED-F9P modules and two antennas (AH 3232).
| SYSU-Campus-GVI Dataset | Description |
|---|---|
| Dormitory Building | Urban Canyon |
| Duration: 523.833 s | |
| Distance: 2705.868 m | |
| Engineering Building | Urban Canyon |
| Duration: 620.109 s | |
| Distance: 2885.359 m | |
| Gymnasium Building | Outdoor-Indoor-Outdoor |
| Duration: 806.222 s | |
| Distance: 3455.805 m | |
| Medical Building | Outdoor-Indoor-Outdoor |
| Duration: 630.626 s | |
| Distance: 2932.079 m | |
| Athletic Field | Repeating Textures |
| Duration: 304.259 s | |
| Distance: 879.583 m | |
| SYSU Campus | Large Scale |
| Duration: 725.800 s | |
| Distance: 3597.251 m |
| Camera sensor | OmniVision Technologies OV9782 |
|---|---|
| Resolution | Up to 1280 × 800 px |
| Shutter Type | Global Shutter |
| FOV (H × V) | 90 × 65° |
| Frame Rate | 30 fps |
| Inertial Measurement Unit | Bosch BMI055 |
|---|---|
| Degrees of Freedom | 6 |
| Gyroscope frequency | 200 Hz |
| Accelerometer frequency | 200 Hz |
| Sample Timestamp Accuracy | 50 μs |
| GNSS | VRTK2 |
|---|---|
| Receiver | U-blox ZED-F9P × 2 |
| Antenna | AH 3232 × 2 |
| RTK Solution Frequency | 5 Hz |
| 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 |
LINK: https://pan.baidu.com/s/1SiHDs3xduDLrfQUzlAEYEQ
PASSWORD: CPNT
When using this SYSU-Campus-GVI-Dataset in academic work, please consider citing:
@ARTICLE{10477234,
author={Song, Jiangbo and Li, Wanqing and Duan, Chufeng and Zhu, Xiangwei},
journal={IEEE Internet of Things Journal},
title={R2-GVIO: A Robust, Real-Time GNSS-Visual-Inertial State Estimator in Urban Challenging Environments},
year={2024},
volume={},
number={},
pages={1-1},
keywords={Global navigation satellite system;Cameras;Navigation;Visualization;Robustness;Real-time systems;Odometry;Visual-Inertial Odometry;GNSS;Sensor Fusion;Localization},
doi={10.1109/JIOT.2024.3379755}}
Related paper:
[1] J. Song, W. Li, C. Duan and X. Zhu, "R2-GVIO: A Robust, Real-Time GNSS-Visual-Inertial State Estimator in Urban Challenging Environments," in IEEE Internet of Things Journal, doi: 10.1109/JIOT.2024.3379755.