SYSU-Campus-GVI-Dataset
所属分类：数据集
开发工具：Others
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上传日期：2023-11-06 02:54:03
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sh-1993
说明： 在中山大学深圳校区收集的校园场景GNSS视觉惯性数据集。
(A campus scene GNSS-visual-inertial dataset collected at Sun Yat-sen University Shenzhen Campus.)
文件列表:
LICENSE (35149, 2023-12-11)
# SYSU-Campus-GVI-Dataset
### A campus scene GNSS-visual-inertial dataset collected at Sun Yat-sen University Shenzhen Campus.
### The data items within the rosbag are listed below:
| topic | type | frequency | description |
| :---: | :--: | :-------: | :---------: |
| /camera/imu | sensor_msgs/Imu | 200Hz | IMU measurments from D455|
| /camera/infra1/image_rect_raw | sensor_msgs/Image | 30Hz | left camera |
| /camera/infra2/image_rect_raw | sensor_msgs/Image | 30Hz | right camera |
| /fixposition/corrimu | sensor_msgs/Imu | 200Hz | IMU measurments from VRTK2|
| /fixposition/gnss1 | sensor_msgs/NavSatFix | 5Hz | GNSS1 RTK position from VRTK2|
| /fixposition/gnss2| sensor_msgs/NavSatFix | 5Hz | GNSS2 RTK position from VRTK2|
### Data set download：
LINK: https://pan.baidu.com/s/1SiHDs3xduDLrfQUzlAEYEQ
PASSWORD: CPNT
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