NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint

1 February 2022

Thien-Minh Nguyen

Shenghai Yuan

Muqing Cao

Yang Lyu

T. Nguyen

Lihua Xie

ArXiv PDF HTML

Papers citing "NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint"

50 / 65 papers shown

Title
MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision Mohammed Shalaby S. S. Ahmed Nicholas Dahdah C. C. Cossette Jérôme Le Ny James Richard Forbes 36 0 0 19 Apr 2025
RESPLE: Recursive Spline Estimation for LiDAR-Based Odometry Ziyu Cao William Talbot Kailai Li 32 0 0 15 Apr 2025
M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation Yanpeng Jia Shiyi Wang Shiliang Shao Yansen Wang Fu Zhang Ting Wang 60 0 0 16 Mar 2025
QLIO: Quantized LiDAR-Inertial Odometry Boyang Lou Shenghai Yuan Jianfei Yang Wenju Su Yingjian Zhang Enwen Hu 83 1 0 11 Mar 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 74 3 0 17 Feb 2025
GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation T. Nguyen Ziyu Cao Kailai Li Shenghai Yuan Lihua Xie 60 6 0 30 Oct 2024
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting Yusen Xie Zhenmin Huang Jin Wu Jun Ma 3DGS 36 1 0 18 Oct 2024
ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges Thien-Minh Nguyen Yizhuo Yang T. Nguyen Shenghai Yuan Lihua Xie 52 4 0 17 Sep 2024
Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios Zhiqiang Chen Yuhua Qi Dapeng Feng Xuebin Zhuang Hongbo Chen Xiangcheng Hu Jin Wu Kelin Peng Peng Lu 48 3 0 08 Sep 2024
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry Chunran Zheng Wenyuan Xu Zuhao Zou Tong Hua Chongjian Yuan ... Fangcheng Zhu Yunfan Ren Rong Wang Fanle Meng Fu Zhang 46 18 0 26 Aug 2024
MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System Xiangcheng Hu Jin Wu Jianhao Jiao Binqian Jiang Wei Zhang Wenshuo Wang Ping Tan 37 2 0 07 Aug 2024
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 55 2 0 30 Jul 2024
A flexible framework for accurate LiDAR odometry, map manipulation, and localization J. Blanco-Claraco 55 2 0 29 Jul 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 47 8 0 14 Jul 2024
Addressing Relative Pose Impact on UWB Localization: Dataset Introduction and Analysis Jun Hyeok Choe Inwook Shim 60 0 0 04 Jul 2024
I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry Wenlu Yu Jie Xu Chengwei Zhao Lijun Zhao T. Nguyen Shenghai Yuan Mingming Bai Lihua Xie 72 8 0 02 Jul 2024
BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps Mingkai Jia Qingwen Zhang Bowen Yang Jin Wu Mingming Liu Patric Jensfelt 47 6 0 12 May 2024
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments Hexiang Wei Jianhao Jiao Xiangcheng Hu Jingwen Yu Xupeng Xie Jin Wu Yilong Zhu Yuxuan Liu Lujia Wang Mingming Liu 47 15 0 12 Apr 2024
Salient Sparse Visual Odometry With Pose-Only Supervision Siyu Chen Kangcheng Liu Chen Wang Shenghai Yuan Jianfei Yang Lihua Xie 42 7 0 06 Apr 2024
TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments Chen Yao Yangtao Ge Guowei Shi Zirui Wang Ningbo Yang Zheng Zhu Hexiang Wei Yuntian Zhao Jing Wu Zhenzhong Jia 32 3 0 25 Mar 2024
Multiple and Gyro-Free Inertial Datasets Zeev Yampolsky Yair Stolero Nitzan Pri-Hadash Dan Solodar Shira Massas Itai Savin Itzik Klein 32 1 0 21 Mar 2024
MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception Thien-Minh Nguyen Shenghai Yuan T. Nguyen Peng Yin Haozhi Cao ... Maciej K. Wozniak Patric Jensfelt Mark Thiel Justin Ziegenbein Noel Blunder 38 37 0 18 Mar 2024
HDA-LVIO: A High-Precision LiDAR-Visual-Inertial Odometry in Urban Environments with Hybrid Data Association Jian Shi Wei Wang Mingyang Qi Xin Li Ye Yan 40 0 0 11 Mar 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 49 10 0 14 Feb 2024
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 55 13 0 09 Feb 2024
Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method Qiuhao Li Shenghai Yuan 45 5 0 08 Feb 2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements Xing Li Haoying Li Guangyang Zeng Qingcheng Zeng Xiaoqiang Ren Chao Yang Junfeng Wu 31 0 0 07 Feb 2024
MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats Shenghai Yuan Yizhuo Yang T. Nguyen Thien-Minh Nguyen Jianfei Yang Fen Liu Jianping Li Han Wang Lihua Xie 33 17 0 06 Feb 2024
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association Thien-Minh Nguyen Xinhang Xu Tongxing Jin Yizhuo Yang Jianping Li Shenghai Yuan Lihua Xie 72 14 0 04 Feb 2024
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation Xiangcheng Hu Linwei Zheng Jin Wu R. Geng Yang Yu Hexiang Wei Xiaoyu Tang Lujia Wang Jianhao Jiao Mingming Liu 43 13 0 31 Jan 2024
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization Kihoon Shin Hyunjae Sim Seungwon Nam Yonghee Kim Jae Hu Kwang-Ki K. Kim 43 3 0 27 Jan 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 51 44 0 29 Dec 2023
SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping with Sweep Reconstruction Zikang Yuan Jie Deng Ruiye Ming Fengtian Lang Xin Yang 35 19 0 28 Dec 2023
RflyMAD: A Dataset for Multicopter Fault Detection and Health Assessment Xiangli Le Bo Jin Gen Cui Xunhua Dai Quan Quan 19 1 0 19 Nov 2023
MUN-FRL: A Visual Inertial LiDAR Dataset for Aerial Autonomous Navigation and Mapping Ravindu G. Thalagala Sahan M. Gunawardena Oscar De Silva Awantha Jayasiri Arthur Gubbels George K. I Mann Raymond G. Gosine 24 5 0 12 Oct 2023
WiDEVIEW: An UltraWideBand and Vision Dataset for Deciphering Pedestrian-Vehicle Interactions Jia Huang Alvika Gautam Hector J. Castro Srikanth Saripalli 24 3 0 27 Sep 2023
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations Minwoo Jung Wooseong Yang Dongjae Lee Hyeonjae Gil Giseop Kim Ayoung Kim 31 24 0 26 Sep 2023
Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory Xin Zheng Jianke Zhu 32 20 0 25 Sep 2023
LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation Kai-Yung Huang Junqiao Zhao Zhongyan Zhu Chen Ye T. Feng 18 9 0 18 Jul 2023
A Comprehensive Introduction of Visual-Inertial Navigation Yangyang Ning 21 1 0 28 Jun 2023
Revisiting Stereo Triangulation in UAV Distance Estimation Jiafan Zhuang Duan Yuan Rihong Yan Weixin Huang Yutao Zhou Zhun Fan 52 0 0 15 Jun 2023
Towards a Robust Sensor Fusion Step for 3D Object Detection on Corrupted Data Maciej K. Wozniak Viktor Kårefjärd Mark Thiel Patric Jensfelt 3DPC 40 3 0 12 Jun 2023
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation M. Jung Sangwoo Jung Ayoung Kim 38 16 0 26 May 2023
PALoc: Robust Prior-assisted Trajectory Generation for Benchmarking Xiangcheng Hu Jin Wu Jianhao Jiao R. Geng Ming Liu 82 0 0 22 May 2023
USTC FLICAR: A Sensors Fusion Dataset of LiDAR-Inertial-Camera for Heavy-duty Autonomous Aerial Work Robots Ziming Wang Yujiang Liu YiFan Duan Xingchen Li Xinran Zhang Jianmin Ji Erbao Dong Yanyong Zhang 42 5 0 04 Apr 2023
VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors T. Nguyen Shenghai Yuan Lihua Xie 28 8 0 20 Mar 2023
Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM Jiajun Lv Xiaolei Lang Jinhong Xu Mengmeng Wang Yong Liu Xingxing Zuo 32 23 0 15 Feb 2023
FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels Xiaoyu Zhao Yunzhou Zhang Yuezhang Lv Shiwen Liang 35 8 0 08 Feb 2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework Jiarong Lin Chongjiang Yuan Yixi Cai Haotian Li Yunfan Ren Yuying Zou Xiaoping Hong Fu Zhang 33 26 0 12 Jan 2023
SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping Thien-Minh Nguyen Daniel Duberg Patric Jensfelt Shenghai Yuan Lihua Xie 40 43 0 07 Nov 2022