GMS-VINS:Multi-category Dynamic Objects Semantic Segmentation for Enhanced Visual-Inertial Odometry Using a Promptable Foundation Model
Paper • 2411.19289 • Published
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ADUGS-VINS Real-World Experiment Dataset
Introduction
The real-world experiment data used in ADUGS(Arxiv, Project Page), contains various sensors data for SLAM alorithm evaluation.
Details
The WHU_Campus.bag dataset is a large scale outdoor VIO dataset collected in campus environment with a wide range of dynamic objects such as pedestrains, cars, bus, and motorcycle.
The Dataset was recorded in rosbag format, the data structure is :
Topics:
* /Odometry
- Type: nav_msgs/Odometry
- Frequency: 10.001225621693028
- Count: 9708
* /cam0/image_raw
- Type: sensor_msgs/Image
- Frequency: 29.381547147870798
- Count: 21294
* /imu0
- Type: sensor_msgs/Imu
- Frequency: 204.7700043938876
- Count: 194212
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