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The Visual-Inertial Canoe Dataset

Published: 01 January 2018 Publication History

Abstract

We present a dataset collected from a canoe along the Sangamon River in Illinois. The canoe was equipped with a stereo camera, an inertial measurement unit IMU, and a global positioning system GPS device, which provide visual data suitable for stereo or monocular applications, inertial measurements, and position data for ground truth. We recorded a canoe trip up and down the river for 44 minutes covering a 2.7 km round trip. The dataset adds to those previously recorded in unstructured environments and is unique in that it is recorded on a river, which provides its own set of challenges and constraints that are described in this paper. The dataset is stored on the Illinois Data Bank and can be accessed at: https://doi.org/10.13012/B2IDB-9342111_V1.

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  • (2025)CFP-PSPNet: a lightweight unmanned vessel water segmentation algorithmJournal of Real-Time Image Processing10.1007/s11554-024-01603-922:1Online publication date: 1-Feb-2025
  • (2024)MAgro datasetInternational Journal of Robotics Research10.1177/0278364923121001143:5(591-601)Online publication date: 1-Apr-2024
  • (2019)Complex urban dataset with multi-level sensors from highly diverse urban environmentsInternational Journal of Robotics Research10.1177/027836491984399638:6(642-657)Online publication date: 1-May-2019
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Published In

cover image International Journal of Robotics Research
International Journal of Robotics Research  Volume 37, Issue 1
1 2018
220 pages

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Sage Publications, Inc.

United States

Publication History

Published: 01 January 2018

Author Tags

  1. IMU
  2. SLAM
  3. dataset
  4. inertial
  5. localization
  6. mapping
  7. monocular
  8. robotics
  9. stereo
  10. vision

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View all
  • (2025)CFP-PSPNet: a lightweight unmanned vessel water segmentation algorithmJournal of Real-Time Image Processing10.1007/s11554-024-01603-922:1Online publication date: 1-Feb-2025
  • (2024)MAgro datasetInternational Journal of Robotics Research10.1177/0278364923121001143:5(591-601)Online publication date: 1-Apr-2024
  • (2019)Complex urban dataset with multi-level sensors from highly diverse urban environmentsInternational Journal of Robotics Research10.1177/027836491984399638:6(642-657)Online publication date: 1-May-2019
  • (2019)The Rosario datasetInternational Journal of Robotics Research10.1177/027836491984143738:6(633-641)Online publication date: 1-May-2019

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