We present a dataset collected from a canoe along the Sangamon River in Illinois. The canoe was equipped with a stereo camera, an inertial measurement unit (IMU), and a global positioning system (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 a 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 dataset is stored on the Illinois Data Bank and can be accessed at: https://doi.org/10.13012/B2IDB-9342111_V1.
|Original language||English (US)|
|Number of pages||8|
|Journal||The International Journal of Robotics Research|
|State||Published - Jan 1 2018|
ASJC Scopus subject areas
- Modeling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence
- Applied Mathematics
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The Visual-Inertial Canoe Dataset
Miller, M. (Creator), Chung, S. (Creator) & Hutchinson, S. A. (Creator), University of Illinois Urbana-Champaign, Nov 14 2017