This dataset presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visual odometry and SLAM, to advance the research in autonomous robotics and computer vision. This work complements existing datasets by simultaneously addressing several issues, such as environment diversity, motion patterns, and sensor frequency. It uses up-to-date devices and presents effective procedures to accurately calibrate the intrinsic and extrinsic of the sensors while addressing temporal synchronization. During recording, we cover multi-floor buildings, gardens, urban and highway scenarios. Combining handheld and car-based data collections, our setup can simulate any robot (quadrupeds, quadrotors, autonomous vehicles). The dataset includes an accurate 6-dof ground truth based on a novel methodology that refines the RTK-GPS estimate with LiDAR point clouds through Bundle Adjustment. All sequences divi
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The Sentinel-2 satellite carries 12 CMOS detectors for the VNIR bands, with adjacent detectors having overlapping fields of view that result in overlapping regions in level-1 B (L1B) images. This dataset includes 3740 pairs of overlapping image crops extracted from two L1B products. Each crop has a height of around 400 pixels and a variable width that depends on the overlap width between detectors for RGBN bands, typically around 120-200 pixels. In addition to detector parallax, there is also cross-band parallax for each detector, resulting in shifts between bands. Pre-registration is performed for both cross-band and cross-detector parallax, with a precision of up to a few pixels (typically less than 10 pixels).
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