Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

In this paper, we present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion to the Newer College Dataset. The global shutter multicamera device is hardware synchronized with the IMU and the LiDAR. This dataset also provides six Degrees of Freedom (DoF) ground truth poses, at the LiDAR frequency of 10hz. Three data collections are described and example usage of multi-camera visual-inertial odometry is demonstrated. This expansion dataset contains small and narrow passages, large scale open spaces as well as vegetated areas to test localization and mapping systems. Furthermore, some sequences present challenging situations such as abrupt lighting change, textureless surfaces, and aggressive motion. The dataset is available at: https://ori-drs.github.io/newer-college-dataset/

[1]  Jörg Stückler,et al.  The TUM VI Benchmark for Evaluating Visual-Inertial Odometry , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[2]  Richard Elvira,et al.  ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM , 2021, IEEE Transactions on Robotics.

[3]  Tatjana Chavdarova,et al.  Deep Multi-camera People Detection , 2017, 2017 16th IEEE International Conference on Machine Learning and Applications (ICMLA).

[4]  Roland Siegwart,et al.  The EuRoC micro aerial vehicle datasets , 2016, Int. J. Robotics Res..

[5]  Woosik Lee,et al.  OpenVINS: A Research Platform for Visual-Inertial Estimation , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

[6]  Milad Ramezani,et al.  The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth , 2020, ArXiv.

[7]  Stefan Milz,et al.  WoodScape: A Multi-Task, Multi-Camera Fisheye Dataset for Autonomous Driving , 2019, 2019 IEEE/CVF International Conference on Computer Vision (ICCV).

[8]  Maurice Fallon,et al.  Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry , 2021, IEEE Robotics and Automation Letters.

[9]  Andreas Geiger,et al.  Vision meets robotics: The KITTI dataset , 2013, Int. J. Robotics Res..

[10]  Davide Scaramuzza,et al.  The Hilti SLAM Challenge Dataset , 2021, ArXiv.

[11]  Roland Siegwart,et al.  Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).