arxiv: pdf
Youtube: video
Bilibili: video
The VID-Flight-Platform project contains PCB design files, MCU code, mechanical assembly drawings, onboard ROS workspace for communication and data collection.
git clone https://github.com/ZJU-FAST-Lab/VID-Dataset.git
cd VID-Dataset
catkin_make
source devel/setup.bash
./tools/convertbag.sh [path of the ROS bag]
| Description | Raw topic | Aligned topic | |
|---|---|---|---|
| 1 | Realsense D435 depth image | /camera/depth/image_rect_raw | /synced/depth |
| 2 | Realsense D435 left gray image | /camera/infra1/image_rect_raw | /synced/infra1 |
| 3 | Realsense D435 right gray image | /camera/infra2/image_rect_raw | /synced/infra2 |
| 4 | IMU data with hardware timestamp | /djiros/imu_hwts | /synced/imu |
| 5 | PPS from N3 flight controller | /djiros/pulse | |
| 6 | N3's 1Hz pulse detected by MCU2 | /m100withm3508/cap_n3pps | |
| 7 | D435 camera's 60Hz pulse detected by MCU2 | /m100withm3508/cap_camerapulse | |
| 8 | Target rotor speed of 4 motors | /m100withm3508/target_rpm | /synced/target_rpm |
| 9 | Target current of 4 motors | /m100withm3508/ctrl_current | /synced/ctrl_current |
| 10 | Measured speed and current of motor 1 | /m100withm3508/m3508_m1 | /synced/m3508_m1 |
| 11 | Measured speed and current of motor 2 | /m100withm3508/m3508_m2 | /synced/m3508_m2 |
| 12 | Measured speed and current of motor 3 | /m100withm3508/m3508_m3 | /synced/m3508_m3 |
| 13 | Measured speed and current of motor 4 | /m100withm3508/m3508_m4 | /synced/m3508_m4 |
| 14 | Measured speed of 4 motors | /synced/allrpm | |
| 15 | GPS from N3 flight controller | /djiros/gps | |
| 16 | RTK | /rtk_zhd_parser/GPS | |
| 17 | Ground truth from motion capture system | /vicon/m100/m100 |
Download link:
http://zjufast.kmras.com:9110/share.cgi?ssid=e08267c50fbe4e4bb9cdfe40f9fdb712
Password:
viddataset@2021
| Environment | Feature | Trajectory | Weight (gram) |
Duration (second) |
Imu Imagery |
Dynamical data |
RTK | Ground truth |
Force sensor |
|
|---|---|---|---|---|---|---|---|---|---|---|
| 1 | Outdoor | Fast, with yaw | Rectangle | 3547.2 | 113.21 | ✔ | ✔ | ✔ | ||
| 2 | Outdoor | Slow, with yaw | Rectangle | 3547.2 | 175.38 | ✔ | ✔ | ✔ | ||
| 3 | Outdoor | with yaw | Round | 3541.7 | 147.34 | ✔ | ✔ | ✔ | ||
| 4 | Outdoor | without yaw | Round | 3541.7 | 105.85 | ✔ | ✔ | ✔ | ||
| 5 | Outdoor | with yaw | 8-character | 3541.7 | 184.29 | ✔ | ✔ | ✔ | ||
| 6 | Outdoor | without yaw | 8-character | 3541.4 | 243.73 | ✔ | ✔ | ✔ | ||
| 7 | Night | Fast, with yaw | Rectangle | 3460.0 | 133.58 | ✔ | ✔ | ✔ | ||
| 8 | Night | Slow, with yaw | Rectangle | 3541.6 | 179.48 | ✔ | ✔ | ✔ | ||
| 9 | Night | without yaw | Round | 3541.6 | 82.07 | ✔ | ✔ | ✔ | ||
| 10 | Night | without yaw | 8-character | 3547.7 | 121.87 | ✔ | ✔ | ✔ | ||
| 11 | Indoor | Loadless | Hovor | 3096.1 | 79.04 | ✔ | ✔ | ✔ | ||
| 12 | Indoor | Loadless | Round | 3096.1 | 117.89 | ✔ | ✔ | ✔ | ||
| 13 | Indoor | Loadless | 8-character | 3096.1 | 109.17 | ✔ | ✔ | ✔ | ||
| 14 | Indoor | Loaded | Hovor | 3372.2 | 80.11 | ✔ | ✔ | ✔ | ||
| 15 | Indoor | Loaded | Round | 3372.2 | 107.15 | ✔ | ✔ | ✔ | ||
| 16 | Indoor | Loaded | 8-character | 3372.2 | 138.41 | ✔ | ✔ | ✔ | ||
| 17 | Indoor | Rope pulled | Random | 3101.5 | 126.53 | ✔ | ✔ | ✔ | ✔ | |
| 18 | Indoor | Rope pulled | Random | 3101.5 | 155.38 | ✔ | ✔ | ✔ | ✔ | |
| 19 | Motor test | 45.04 | ✔ | ✔ | ||||||
| 20 | Motor test | 45.08 | ✔ | ✔ | ||||||
| 21 | Motor test | 43.00 | ✔ | ✔ | ||||||
| 22 | Motor test | 43.84 | ✔ | ✔ |