Data Suites


NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset for Autonomous Aerial Vehicle of the Future

This site presents the dataset collected on our research Unmanned Aerial Vehicle (AV) platform, featuring an extensive set of sensors:

  • Two 3D lidars
  • Two time-synchronized cameras
  • Multiple Inertial Measurement Units (IMUs)
  • Four Ultra-wideband (UWB) nodes on UAV, ranging to three anchor nodes.

The comprehensive sensor suite resembles that of an autonomous driving car, but features distinct and challenging characteristics of aerial operations. The flight tests are conducted in a variety of both indoor and outdoor conditions.

Downloads

Name Download Link Size Duration Remark
eee_01 DR-NTU server 8.7 GB 398.7 s Collected at the School of EEE center
eee_02 DR-NTU server 7.0 GB 321.1 s Collected at the School of EEE center
eee_03 DR-NTU server 4.3 GB 181.4 s Collected at the School of EEE center
nya_01 DR-NTU server 8.6 GB 396.3 s Collected at the School of Bio. Science
nya_02 DR-NTU server 9.4 GB 428.7 s Collected at the School of Bio. Science
nya_03 DR-NTU server 9.0 GB 411.2 s Collected at the School of Bio. Science
sbs_01 DR-NTU server 7.8 GB 354.2 s Collected inside the Nanyang Auditorium
sbs_02 DR-NTU server 8.2 GB 373.3 s Collected inside the Nanyang Auditorium
sbs_03 DR-NTU server 8.5 GB 389.3 s Collected inside the Nanyang Auditorium

Sensor setup

QR link to projects

Aerial Vehicle with its sensors and corresponding coordinate frames