Real-World Thermal-Inertial Dataset for Self-TIO

Dataset

• Download dataset
  • [Google Drive]
• Sensors
  • MicroStrain 3DM-GX5-25 IMU and FLIR Boson+640 Infrared Thermal Camera
• Sequences
  • Total five sequences (Grassland (3) and Street (2))
• Calibration
  • Calibration is performed with Kalibr with heated circle grid target.
• Ground truth
  • Ground truth is captured with GNSS and transformed with TUM dataset format (timestamp x y z q_x q_y q_z q_w).

Paper

• Self-TIO: Thermal-Inertial Odometry via Self-Supervised 16-bit Feature Extractor and Tracker (Accepted to RA-L).
• Authors: Junwoon Lee, Taisei Ando, Mitsuru Shinozaki, Toshihiro Kitajima, Qi An, and Atsushi Yamashita
• Acknowledged: This work was supported under the university-corporate collaboration agreement between Kubota Corporation and the University of Tokyo.
• Contact: Junwoon Lee

About Code and Network Availability

• We currently don’t have any plans to make our network and code available to the public.