This is a collection of datasets in Robotic Operating System (ROS) bag file format.

Dataset 1 - inveraray_parallel.bag

This dataset includes simulated inertial measurements, visual imagery, and ground truth poses from 4 drones which are flying in a parallel trajectory with overlapping imagery

Dataset 2 - inveraray_around_4.bag 

This dataset includes simulated inertial measurements, visual imagery, and ground truth poses from 4 drones flying in a overlapping square trajectory

Dataset 3 - mars_yard_duo.bag and mars_yard_duo_tf.bag

These datasets include real inertial measurements, thermal imagery, and ground truth poses obtained from a motion capture system taken from an unmanned aerial vehicle in the JPL Mars yard. The timestamps have been offset by a fixed amount such that the flights are overlapping and can be treated as two separate agents flying over the same terrain.

Lead Author:
Vincenzo Polizzi
University of Zurich
vincenzo@ifi.uzh.ch

JPL Corresponding Author:
Robert Hewitt
Jet Propulsion Laboratory, California Institute of Technology
robert.a.hewitt@jpl.nasa.gov

The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004).