VID-Dataset

arxiv: pdf

Youtube: video

Bilibili: video

The Flight Platform

The VID-Flight-Platform project contains PCB design files, MCU code, mechanical assembly drawings, onboard ROS workspace for communication and data collection.

Run the Rosbag with the time-sync tool

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]

ROS topic

	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

Sequences

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		✔			✔