TUM Visual-Inertial Dataset

Introduced by Schubert et al. in The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

A novel dataset with a diverse set of sequences in different scenes for evaluating VI odometry. It provides camera images with 1024x1024 resolution at 20 Hz, high dynamic range and photometric calibration.

Source: The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

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