The Visual-Inertial Canoe Dataset

  • Martin A. Miller (Creator)
  • Soon-Jo Chung (Creator)
  • Seth Andrew Hutchinson (Creator)



We present a dataset collected from a canoe along the Sangamon River in Illinois. The canoe was equipped with a stereo camera, an IMU, and a GPS device, which provide visual data suitable for stereo or monocular applications, inertial measurements, and position data for ground truth. We recorded a canoe trip up and down the river for 44 minutes covering 2.7 km round trip. The dataset adds to those previously recorded in unstructured environments and is unique in that it is recorded on a river, which provides its own set of challenges and constraints that are described in this paper. The data is divided into subsets, which can be downloaded individually.
Date made availableNov 14 2017
PublisherUniversity of Illinois at Urbana-Champaign

Cite this

Miller, M. A. (Creator), Chung, S. (Creator), Hutchinson, S. A. (Creator)(Nov 14 2017). The Visual-Inertial Canoe Dataset. University of Illinois at Urbana-Champaign. 10.13012/B2IDB-9342111_V1