Data Preparation

EuRoC Dataset contains stereo images, synchronized IMU measurements, and accurate motion and structure ground truth. In XRSLAM, we only use Monocular camera and IMU data. The bottom figures are the representative images of the Machine hall and Vicon room, where the EuRoC dataset was collected.

It is recommended to construct your folder structure like this:

data
├── EuRoC
│   ├── MH_01_easy
│           |── mav0
│                |──...
│   └── MH_02_easy
│   └── ...

Take EuRoC as an example, download a sequence (ASL format) and uncompress it. You can also download the compressed zip file through the link below.

Dataset	ASL Dataset Formatcol	Comment
Machine Hall 01	download	Dataset machine hall “easy”
Machine Hall 02	download	Dataset machine hall “easy”
Machine Hall 03	download	Dataset machine hall “medium”
Machine Hall 04	download	Dataset machine hall “difficult”
Machine Hall 05	download	Dataset machine hall “difficult”
Vicon Room 1 01	download	Dataset Vicon room 1 “easy”
Vicon Room 1 02	download	Dataset Vicon room 1 “medium”
Vicon Room 1 03	download	Dataset Vicon room 1 “difficult”
Vicon Room 2 01	download	Dataset Vicon room 2 “easy”
Vicon Room 2 02	download	Dataset Vicon room 2 “medium”
Vicon Room 2 03	download	Dataset Vicon room 2 “difficult”