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Downloading Datasets

This guide explains how to download the datasets required for testing the stereo visual-inertial odometry system.

Supported Datasets

  • EuRoC MAV Dataset: Indoor drone flights with stereo cameras and IMU
  • TUM VI Dataset: Indoor sequences with fisheye stereo cameras and IMU (room sequences with ground truth)

EuRoC Dataset

EuRoC Dataset Overview

The EuRoC MAV (European Robotics Challenge Micro Aerial Vehicle) dataset contains stereo camera images, IMU data, and ground truth trajectory data from a micro aerial vehicle flying in indoor environments. It includes 11 sequences total with different difficulty levels.

Download Options

Option 1: Using the Provided Script (Recommended)

The repository includes a convenience script to download all EuRoC MAV datasets automatically.

chmod +x script/download_euroc.sh
./script/download_euroc.sh /path/of/dataset

This will download all 11 sequences into the specified directory structure:

/path/of/dataset/
├── EuRoC/
│   ├── MH_01_easy/
│   ├── MH_02_easy/
│   ├── MH_03_medium/
│   ├── MH_04_difficult/
│   ├── MH_05_difficult/
│   ├── V1_01_easy/
│   ├── V1_02_medium/
│   ├── V1_03_difficult/
│   ├── V2_01_easy/
│   ├── V2_02_medium/
│   └── V2_03_difficult/

Option 2: Manual Download

You can manually download specific sequences from the EuRoC dataset website.

  1. Visit the EuRoC dataset page
  2. Download the desired sequences in ASL Dataset Format
  3. Extract the files into the appropriate directory structure

Dataset Structure

Each sequence contains the following files:

MH_01_easy/
├── mav0/
│   ├── cam0/           # Left camera images
│   │   ├── data/
│   │   └── data.csv
│   ├── cam1/           # Right camera images
│   │   ├── data/
│   │   └── data.csv
│   ├── imu0/           # IMU data
│   │   └── data.csv
│   ├── leica0/         # Ground truth poses
│   │   └── data.csv
│   └── state_groundtruth_estimate0/
│       └── data.csv

Sequence Recommendations

Storage Requirements

  • Single sequence: ~1-3 GB
  • All sequences: ~20-25 GB

Make sure you have sufficient disk space before downloading all sequences.

TUM VI Dataset

TUM VI Dataset Overview

The TUM VI (Technical University of Munich Visual-Inertial) dataset contains stereo fisheye camera images, IMU data, and ground truth trajectory data recorded in various indoor environments. We use the room sequences (room1-6) which have accurate ground truth data for evaluation.

Download Options

Option 1: Using the Provided Script (Recommended)

The repository includes a convenience script to download TUM VI room datasets automatically.

chmod +x script/download_tum_vi.sh
./script/download_tum_vi.sh                      # Download ALL room datasets (default)
./script/download_tum_vi.sh /path/to/datasets    # Download ALL room datasets to specified path
./script/download_tum_vi.sh room1                # Download specific dataset
./script/download_tum_vi.sh room1 /path/to/datasets  # Download specific dataset to path

This will download room sequences into the specified directory structure:

/path/to/datasets/
├── dataset-room1_512_16/
├── dataset-room2_512_16/
├── dataset-room3_512_16/
├── dataset-room4_512_16/
├── dataset-room5_512_16/
└── dataset-room6_512_16/

Option 2: Manual Download

You can manually download specific sequences from the TUM VI dataset website.

  1. Visit the TUM VI dataset page
  2. Download the desired sequences in EuRoC format (512x512)
  3. Extract the files into the appropriate directory structure

Dataset Structure

Each TUM VI sequence follows the EuRoC format:

dataset-room1_512_16/
├── mav0/
│   ├── cam0/           # Left fisheye camera images
│   │   ├── data/
│   │   └── data.csv
│   ├── cam1/           # Right fisheye camera images
│   │   ├── data/
│   │   └── data.csv
│   ├── imu0/           # IMU data
│   │   └── data.csv
│   └── mocap0/         # Ground truth poses
│       └── data.csv

Available Sequences

Room sequences (with ground truth):

  • room1-6: Indoor rooms and labs with accurate mocap ground truth for VIO evaluation

Storage Requirements

  • Single sequence: ~1-4 GB
  • All room sequences: ~20+ GB

Make sure you have sufficient disk space before downloading all sequences.

Troubleshooting

Download Issues

  • Check your internet connection
  • Ensure sufficient disk space
  • Verify the target directory has write permissions

Script Permissions

chmod +x script/download_euroc.sh
chmod +x script/download_tum_vi.sh

Next Steps

After downloading the dataset:

  1. Follow the Installation Guide to build the project
  2. See the Running Examples to test with the downloaded data