Visual Odometry

The dataset consists of around 335K real images equally distributed among 7 classes. The classes represent different levels of rain intensity, namely "Clear", "Slanting Heavy Rain", "Vertical Heavy Rain", "Slanting Medium Rain", "Vertical Medium Rain", "Slanting Low Rain", and "Vertical Low Rain". The dataset has been acquired during laboratory experiments and simulates a low-altitude flight. The system consists of a visual odometry system comprising a processing unit and a depth camera, namely an Intel Real Sense D435i.