This is an indoor environment data set collected from our research team's laboratory, and the data is collected from the Intel RealSense D435i camera. There are a total of 12 datasets, each in the format of a `.bag` file in ROS packet format. Each file contains RGB images and IMU data. 12 datasets collected environmental information for corridors, laboratories, pantry, hall, and mail room, with a total of 7 types of data combinations: laboratory(sequence 01-03), pantry(sequence 04), corridor(sequence 05-06), laboratory+corridor(sequence 07-08), mail room(sequence 09), mail room+hall(sequence 10-11), corridor+hall(sequence 12). The largest data file collected about 11 minutes of data, and all data files contained at least 3 minutes of data.
Each data packet is in the dataset format collected by ROS, which is a `.bag` file. The composition of the dataset refers to the uploaded file named ReadMe.docx. The file only contains RGB data and IMU data during the collection process, with an RGB image size of 480 * 640. The IMU data is collected by the camera's (RealSense D435i) built-in IMU sensor.