VID-Dataset

arxiv: pdf

Youtube: video

Bilibili: video

The Flight Platform

The VID-Flight-Platform project contains PCB design files, MCU code, mechanical assembly drawings, onboard ROS workspace for communication and data collection.

Run the Rosbag with the time-sync tool

git clone https://github.com/ZJU-FAST-Lab/VID-Dataset.git
cd VID-Dataset
catkin_make
source devel/setup.bash
./tools/convertbag.sh [path of the ROS bag]

ROS topic

	Description	Raw topic	Aligned topic
1	Realsense D435 depth image	/camera/depth/image_rect_raw	/synced/depth
2	Realsense D435 left gray image	/camera/infra1/image_rect_raw	/synced/infra1
3	Realsense D435 right gray image	/camera/infra2/image_rect_raw	/synced/infra2
4	IMU data with hardware timestamp	/djiros/imu_hwts	/synced/imu
5	PPS from N3 flight controller	/djiros/pulse
6	N3's 1Hz pulse detected by MCU2	/m100withm3508/cap_n3pps
7	D435 camera's 60Hz pulse detected by MCU2	/m100withm3508/cap_camerapulse
8	Target rotor speed of 4 motors	/m100withm3508/target_rpm	/synced/target_rpm
9	Target current of 4 motors	/m100withm3508/ctrl_current	/synced/ctrl_current
10	Measured speed and current of motor 1	/m100withm3508/m3508_m1	/synced/m3508_m1
11	Measured speed and current of motor 2	/m100withm3508/m3508_m2	/synced/m3508_m2
12	Measured speed and current of motor 3	/m100withm3508/m3508_m3	/synced/m3508_m3
13	Measured speed and current of motor 4	/m100withm3508/m3508_m4	/synced/m3508_m4
14	Measured speed of 4 motors		/synced/allrpm
15	GPS from N3 flight controller	/djiros/gps
16	RTK	/rtk_zhd_parser/GPS
17	Ground truth from motion capture system	/vicon/m100/m100

Sequences

The download link in the table is unavailable due to the expiration of the web disk. Please use the link below to download the data set

Download link: Download Link A Download Link B

Password：vid

	Download link	Environment	Feature	Trajectory	Weight (gram)	Duration (second)	Imu Imagery	Dynamical data	RTK	Ground truth	Force sensor	File name
1	Download	Outdoor	Fast, with yaw	Rectangle	3547.2	113.21	✔	✔	✔			outdoor_rect_fast_3547.2g_113.21s.bag
2	Download	Outdoor	Slow, with yaw	Rectangle	3547.2	175.38	✔	✔	✔			outdoor_rect_slow_3547.2g_175.38s.bag
3	Download	Outdoor	with yaw	Round	3541.7	147.34	✔	✔	✔			outdoor_round_yaw_3541.7g_147.34s.bag
4	Download	Outdoor	without yaw	Round	3541.7	105.85	✔	✔	✔			outdoor_round_noyaw_3541.7g_105.85s.bag
5	Download	Outdoor	with yaw	8-character	3541.7	184.29	✔	✔	✔			outdoor_8_yaw_3541.7g_184.29s.bag
6	Download	Outdoor	without yaw	8-character	3541.4	243.73	✔	✔	✔			outdoor_8_noyaw_3541.4g_243.73s.bag
7	Download	Night	Fast, with yaw	Rectangle	3460.0	133.58	✔	✔	✔			night_rect_fast_3460.0g_133.58.bag
8	Download	Night	Slow, with yaw	Rectangle	3541.6	179.48	✔	✔	✔			night_rect_slow_3541.6g_179.48s.bag
9	Download	Night	without yaw	Round	3541.6	82.07	✔	✔	✔			night_round_no_yaw_3541.6g_82.07s.bag
10	Download	Night	without yaw	8-character	3547.7	121.87	✔	✔	✔			night_8_noyaw_3547.7g_121.87s.bag
11	Download	Indoor	Loadless	Hovor	3096.1	79.04	✔	✔		✔		indoor_loadless_hovor_3096.1g_79.04s.bag
12	Download	Indoor	Loadless	Round	3096.1	117.89	✔	✔		✔		indoor_loadless_round_3096.1g_117.89s.bag
13	Download	Indoor	Loadless	8-character	3096.1	109.17	✔	✔		✔		indoor_loadless_8_3096.1g_109.17s.bag
14	Download	Indoor	Loaded	Hovor	3372.2	80.11	✔	✔		✔		indoor_loaded_hovor_3103.2g_load269.0g_80.11s.bag
15	Download	Indoor	Loaded	Round	3372.2	107.15	✔	✔		✔		indoor_loaded_round_3103.2g_load269.0g_107.15s.bag
16	Download	Indoor	Loaded	8-character	3372.2	138.41	✔	✔		✔		indoor_loaded_8_3103.2g_load269.0g_138.41s.bag
17	Download	Indoor	Rope pulled	Random	3101.5	126.53	✔	✔		✔	✔	indoor_sensor_fast_3101.5g_126.53s.bag
18	Download	Indoor	Rope pulled	Random	3101.5	155.38	✔	✔		✔	✔	indoor_sensor_slow_3101.5g_155.38s.bag
19	Download	Motor test				45.04		✔			✔	channel_1.bag
20	Download	Motor test				45.08		✔			✔	channel_2.bag
21	Download	Motor test				43.00		✔			✔	channel_3.bag
22	Download	Motor test				43.84		✔			✔	channel_4.bag