VID Dataset (The Visual-Inertial-Dynamical Multirotor Dataset)

The Visual-Inertial-Dynamical (VID) dataset not only focuses on traditional six degrees of freedom (6-DOF) pose estimation, but also provides dynamical characteristics of the flight platform for external force perception or dynamics-aided estimation. The VID dataset contains hardware synchronized imagery and inertial measurements, with accurate ground truth trajectories for evaluating common visual-inertial estimators. Moreover, the proposed dataset highlights rotor speed and motor current measurements, control inputs, and ground truth 6-axis force data to evaluate external force estimation. To the best of our knowledge, the proposed VID dataset is the first public dataset containing visual-inertial and complete dynamical information in the real world for pose and external force evaluation.