WHUVID: A Large-Scale Stereo-IMU Dataset for Visual-Inertial Odometry and Autonomous Driving in Chinese Urban Scenarios

Abstract

In this paper, we present a challenging stereo-inertial dataset collected onboard a sports utility vehicle (SUV) for the tasks of visual-inertial odometry (VIO), simultaneous localization and mapping (SLAM), autonomous driving, object detection, and other computer vision techniques. We recorded a large set of time-synchronized stereo image sequences (2 × 1280 × 720 @ 30 fps RGB) and corresponding inertial measurement unit (IMU) readings (400 Hz) from a Stereolabs ZED2 camera, along with centimeter-level-accurate six-degree-of-freedom ground truth (100 Hz) from a u-blox GNSS-IMU navigation device with real-time kinematic correction signals. The dataset comprises 34 sequences recorded during November 2020 in Wuhan, the largest city of Central China. Further, the dataset contains abundant unique urban scenes and features of a complex modern metropolis, which have rarely appeared in previously released benchmarks. Results from milestone VIO/SLAM algorithms reveal that methods exhibiting excellent performance on established datasets such as KITTI and EuRoC perform unsatisfactorily when moved outside the laboratory to the real world. We expect our dataset to reduce this limitation by providing more challenging and diverse scenarios to the research community. The full dataset with raw and calibrated data is publicly available along with a lightweight MATLAB/Python toolbox for preprocessing and evaluation. The dataset can be downloaded in its entirety from the uniform resource locator (URL) we provide in the main text.