AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping

Rodolphe Dubois, Alexandre Eudes, Vincent Frémont

The AirMuseum dataset is intended for multi-robot stereo-visual and inertial Simultaneous Localization And Mapping (SLAM). It consists in five indoor multi-robot scenarios acquired with ground and aerial robots in a former Air Museum at ONERA Meudon, France. Those scenarios were designed to exhibit some specific opportunities and challenges associated to collaborative SLAM. Each scenario includes synchronized sequences between multiple robots with stereo images and inertial measurements.

DOI Link:

10.21227/fq66-4973

Links:

Github repository associated to the dataset

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Calibration of the cameras and the IMU sensors
Calibration of the mounted apriltag markers
Acquisitions and ground-truth trajectories of robot A in scenario 2
Acquisitions and ground-truth trajectories of robot B in scenario 2
Acquisitions and ground-truth trajectories of robot C in scenario 2
Acquisitions and ground-truth trajectories of the drone in scenario 3
Acquisitions and ground-truth trajectories of robot A in scenario 3
Acquisitions and ground-truth trajectories of robot B in scenario 3
Acquisitions and ground-truth trajectories of robot C in scenario 3
Acquisitions and ground-truth trajectories of the drone in scenario 4
Acquisitions and ground-truth trajectories of robot A in scenario 4
Acquisitions and ground-truth trajectories of robot B in scenario 4
Acquisitions and ground-truth trajectories of robot C in scenario 4
Acquisitions and ground-truth trajectories of the drone in scenario 5
Acquisitions and ground-truth trajectories of robot A in scenario 5
Acquisitions and ground-truth trajectories of robot B in scenario 5
Acquisitions and ground-truth trajectories of robot C in scenario 5
Acquisitions and ground-truth trajectories of robot A in scenario 1
Acquisitions and ground-truth trajectories of robot B in scenario 1
Pre-view of the scenario 1
Pre-view of the scenario 2
Pre-view of the scenario 3
Pre-view of the scenario 4
Pre-view of the scenario 5
Top-view accelerated view trajectories of scenario 1
Top-view accelerated trajectories of scenario 2
Top-view accelerated trajectories of scenario 3
Top-view accelerated trajectories of scenario 4
Top-view accelerated trajectories of scenario 5
Acquisitions and ground-truth trajectories of robot C in scenario 1

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[1] Rodolphe Dubois, Alexandre Eudes, Vincent Frémont, "AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping", IEEE Dataport, 2020. [Online]. Available: http://dx.doi.org/10.21227/fq66-4973. Accessed: Mar. 14, 2025.

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doi = {10.21227/fq66-4973},
url = {http://dx.doi.org/10.21227/fq66-4973},
author = {Rodolphe Dubois; Alexandre Eudes; Vincent Frémont },
publisher = {IEEE Dataport},
title = {AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping},
year = {2020} }

TY - DATA
T1 - AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping
AU - Rodolphe Dubois; Alexandre Eudes; Vincent Frémont
PY - 2020
PB - IEEE Dataport
UR - 10.21227/fq66-4973
ER -

Rodolphe Dubois, Alexandre Eudes, Vincent Frémont. (2020). AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping. IEEE Dataport. http://dx.doi.org/10.21227/fq66-4973

Rodolphe Dubois, Alexandre Eudes, Vincent Frémont, 2020. AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping. Available at: http://dx.doi.org/10.21227/fq66-4973.

Rodolphe Dubois, Alexandre Eudes, Vincent Frémont. (2020). "AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping." Web.

1. Rodolphe Dubois, Alexandre Eudes, Vincent Frémont. AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping [Internet]. IEEE Dataport; 2020. Available from : http://dx.doi.org/10.21227/fq66-4973

Rodolphe Dubois, Alexandre Eudes, Vincent Frémont. "AirMuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping." doi: 10.21227/fq66-4973

Dataset Files