{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/the-visual-inertial-dynamical-uav-dataset","title":"The Visual-Inertial-Dynamical Multirotor Dataset","arxiv_id":"2103.11152","date":"2021-03-20","proceeding":null,"authors":["Kunyi Zhang","Tiankai Yang","Ziming Ding","Sheng Yang","Teng Ma","Mingyang Li","Chao Xu","Fei Gao"],"abstract":"Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be perceived for robust planning and control, which is beyond the capacity of these datasets. This paper introduces a Visual-Inertial-Dynamical (VID) dataset, not only focusing on traditional six degrees of freedom (6-DOF) pose estimation but also providing 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. The dataset: https://github.com/ZJU-FAST-Lab/VID-Dataset and related files: https://github.com/ZJU-FAST-Lab/VID-Flight-Platform are open-sourced.","url_abs":"https://arxiv.org/abs/2103.11152v3","url_pdf":"https://arxiv.org/pdf/2103.11152v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"the-visual-inertial-dynamical-uav-dataset","repo_url":"https://github.com/ZJU-FAST-Lab/VID-Dataset","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"vid-dataset","name":"VID Dataset","full_name":"The Visual-Inertial-Dynamical Multirotor Dataset"}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}