The VCU-RVI Benchmark: Evaluating Visual Inertial Odometry for Indoor Navigation Applications with an RGB-D Camera
He Zhang,Lingqiu Jin,Cang Ye,He Zhang,Lingqiu Jin,Cang Ye
This paper presents VCU-RVI, a new visual inertial odometry (VIO) benchmark with a set of diverse data sequences in different indoor scenarios. The benchmark was captured using an Structure Core (SC) sensor, consisting of an RGB-D camera and an IMU. It provides aligned color and depth images with 640×480 resolution at 30 Hz. The camera's data is synchronized with the IMU's data at 100 Hz. Thirty-n...
